AGRICULTURE ROBOT

A PROJECT REPORT

Submitted by

BALACHANDAR.S

(070107115011)

GOMATHI.T

(070107115019)

SIVA.S

(070107115045)

in partial fulfilment for the award of the degree

of

BACHELOR OF ENGINEERINGIN

ELECTRONICS AND COMMUNICATION ENGINEERING

NEHRU INSTITUTE OF ENGINEERING AND TECHNOLOGY,

COIMBATORE

ANNA UNIVERSITY COIMBATORE 641047OCTOBER 2010

ANNA UNIVERSITY COIMBATORE 641047

BONAFIDE CERTIFICATE Certified that this project report “AGRICULTURE

ROBOT” is the bonafide

work of “BALACHANDAR.S (070107115011),

GOMATHI.T (070107115019)

SIVA.S (070107115045)” who carried out the project

work under my

supervision.

SIGNATURE SIGNATURE

PROF.H.JOSEPH PRABHAKAR WILLIAMS Mr.

THUFAIL MOHAMMED

HEAD OF THE DEPARTMENT

SUPERVISOR LECTURER/ECE Department of Electronics and

Department of Electronics and

Communication Engineering

Communication Engineering

Nehru Institute of Engineering and Technology Nehru Institute of

Engineering and Technology

Coimbatore 641105 Coimbatore 641105

Submitted for the VIVA-VOCE held on …………… at Nehru

Institute of Engineering

and Technology.

Internal Examiner External Examiner

ACKNOWLEDGEMENT

First of all we thank God Almighty for his blessings without which we would have

not initiated the project

We submit our gratitude to the Founder and Chairman Late Dr.P.K.DAS.Ph.D.,

Managing Trustee Adv.P.KRISHNA DAS and Secretary Dr.P.KRISHNA

KUMAR.Ph.D., for the sincere Endeavour in educating us in their prestigious

Institution

We extend our gratitude to our principal Dr.P.MANIIARASAN.Ph.D, for the kind

words and enthusiastic motivation.

We extend our profound gratitude and acknowledge our Head Of Department,

Prof.H.JOSEPH PRABHAKAR WILLIAMS.M.E (Ph.D), who gave us valuable

advice and whole hearted co-operation for the completion of the project.

Our sincere thanks to Mr. THUFAIL MOHAMMED K., ME, Lecturer

Department of Electrical and Electronic Engineering, who is our project guide, deserves

a special note of thanks for the ideas that he shared and the constant inspiration that he

has given during the project period.

.We owe special thanks to all members of staff, technical and non-technical

assistants of department for their co-operation and Our Family Members and Our

Friends extending their support and encouragement.

ABSTRACT

The project “ AGRICULTURE ROBOT ” is based on ROBOTIC

ENGINEERING.

In this project we use the PIC microcontroller which is a flash type

microcontroller in which we can reprogram for above 10,000 times and it has a inbuilt

circuitry of ADC, EEPROM. PWM,TIMERS,UARTS etc., which can be configured by

coding .The real time clock is present to update the time because it runs continuously if there

is a power shut down also .EEPROM is present to save the data securable .Much needed data

‘s should not get erased so we have maintain properly.

The mechanical arrangement is designed as the tank and sharp knife type like

as ploughing which is used to dip the soil and seeds are stored in the tank. This mechanical

arrangement is connected robot we can operate the robot in forward direction, reverse

direction left side and right side. When robot is moving the ploughing machine will dip the

soil continuously to moving side. These arrangements are connected to motor controls by

relay through relay driver circuits constructed with transistors, which act as switch, so it can

control the relays. After dipped the soil the robot will activate and open the tank mouth. So

the seeds are sphereted on the drip another one arrangement will close the dip

.

In micro controller we have already programmed when you press the button

for desired action the micro controller will activate corresponding relay for that action. This

project is very useful in the agriculture for reducing the manpower and time.

The 2*16 characters LCD display is kept to display the fire accidents time

and the date and all other details can be displayed on receiving from the

PIC microcontroller.

i

TABLE OF CONTENTS

CHAPTER.NO TITLE

PAGE NO.

ABSTRACT

i

LIST OF FIGURES

ii

1 ROBOTICS

1

1.1 HISTORY OF ROBOTICS

2

1.2 LAWS OF ROBOTICS

2

1.3 FUTURE OF ROBOTICS

3

2 INTRODUCTION

4

2.1 INTRODUCTION TO “AGRICULTURE ROBOT”

5

2.2 BLOCK DIAGRAM

5

2.3 BLOCK DIAGRAM DESCRIPTION

6

3 CIRCUIT DIAGRAM

7

3.1 CIRCUIT DIAGRAM WITH TRANSMITTER

8

3.2 CIRCUIT DIAGRAM WITH RECEIVER

9

4 HARDWARE DESCRIPTION

10

4.1 COMPONENTS

11

4.2 RF MODULE DESCRIPTION

114.2.1 RF Transmitter

11

4.2.2 RF Receiver

11

4.3 PIC 16F877 DESCRIPTION

12 4.3.1 High performance RISC CPU

15

4.3.2 Peripheral features

16

4.3.3 Analog features

16

4.3.4 PIC 16F877 pin diagram

16

4.4 REAL TIME CLOCK GENERAL

17

DESCRIPTION

18 4.4.1 Features

18

4.5 TEMPERATURE SENSORS

18 4.5.1 Temperature sensors description

18

4.5.2 Types

20

4.5.2.1 Engine Coolant Temperature Sensor

20

4.5.2.2 Exhaust Gas Recirculation

21

Temperature Sensor

4.5.2.3 Intake Air Temperature sensor

22

4.5.3 ECT,IAT&EGR Temperature

23

Sensor options

4.5.4 Temperature Sensor

23

diagnostics

4.5.5 Solving oprn circuit problems

24

4.5.6 Features

25

4.6 LCD

25 4.6.1 LCD description

25

4.6.2 Pneumatic phase LCD

26

4.6.3 Making of LCD

26

4.6.4 Working of LCD

28

4.6.5 Colour LCD

29

4.6.6 LCD connection details

29

4.7 DC MOTOR DRIVE UNIT

30

4.8 DS1307 RTC INTERFACE

36

4.9 MAX 232 SERIAL INTERFACE

37

4.10 POWER SUPPLY

38 4.10.1 Block diagram

38

4.10.2 Working principle

38

4.10.2.1 Transformer

38

4.10.2.2 Bridge rectifier

39

4.10.2.3 IC voltage regulators

40

4.10.3 Advantages

42

4.10.4 Applications

42

5 SOFTWARE DESCRIPTION

43

5.1 KEIL VERSION 3

44 5.1.1 Front end

45

5.1.2 Features

45

5.1.3 ULINK debug adapters

45

5.1.4 Evaluation boards

46

6 CONCLUSION

47

6.1 EXISTING TECHNOLOGY

47 6.1.1 Latest technology in automated

48

agriculture

6.1.2 Japan’s first autonomous

49

Agriculture Robot

6.2 PROGRAMMING

50 7 BIBILIOGRAPHY

57

7.1 REFERENCES

58

7.2 WEBSITES

58

LIST OF FIGURES

S.NO FIGURE NAME OF THE FIGURE PAGE NO. 1 2.2 BLOCK DIAGRAM OF AGRICULTURE

ROBOT

5

2 3 .1 CIRCUIT DIAGRAM WITH TRANSMITTER 8

3 3.2 CIRCUIT DIAGRAM WITH RECEIVER 9

4 4.2.1 TWS-PIN DIAGRAM 12

5 4.2.1 SAMPLE TRANSMITTER APPLICATION

CIRCUIT

12

6 4.2.2 RWS-PIN DIAGRAM 13

7 4.2.2 SAMPLE RECEIVER APPLICATION

CIRCUIT

14

8 4.3.4 PIC 16F877 A PIN DIAGRAM 17

9 4.5.1 LM-35 PIN DIAGRAM 19

10 4.5.2.1 ECT TEMPERATURE SENSOR CIRCUIT 20

11 4.5.2.2 EGR TEMPERATURE SENSOR CIRCUIT 21

12 4.5.2.3 IAT TEMPERATURE SENSOR CIRCUIT 22

13 4.5.5 SOLVING OPEN CIRCUIT PROBLEMS 24

14 4.6.4 BLOCK DIAGRAM OF LCD 27

15 4.6.6 LCD PIN DIAGRAM 30

16 4.7 MOTOR UNIT BLOCK DIAGRAM 30

17 4.8 DS 1307 RTC INTERFACE 36

18 4.9 MAX-232 SERIAL INTERFACE 37

19 4.10.1 POWER SUPPLY BLOCK DIAGRAM 38

20 4.10.2.3 IC VOLTAGE REGULATOR DIAGRAM 41

21 6.1 LATEST TECHNOLOGY IN AUTOMATED

AGRICULTURE

48

22 6.2 JAPAN’S FIRST AUTONOMOUS

AGRICULTURE ROBOT

49

ii

Chapter I

ROB

OTICS

1

1.1 HISTORY OF ROBOTICS

The field of ROBOTICS is emerging to become one of the important

automation areas. Engineers, technicians and managers must be educated and trained in

order to realize the full potential of this technology .

In the 17th and 18th century, there were a number of ingenious mechanical devices

that had some of the futures of the ROBOTICS.JACQUES DE VAUCANSON built

several human –sized musicians in the mid 1700’s . In 1805,HENRI MAILLARDET

constructed a mechanical doll, which was capable of drawing pictures .HARGREAVE’S

SPINNING JENNY (1770), CROMPON’S MULE SPINNER (1779),CARTWRIGHT’S

POWER LOOM (1795),THE JACQUARD LOOM 91801) and others.

In more recent times, numerical control and technicians are two important

technologies in the development of ROBOTICS.

These mechanical creations of human form been regarded as isolated invention

reflecting the genius of man who well ahead of their time. Today ,nearly all ROBOTS

introduced in to the market use computer control. Indeed, the field of ROBOTICS is

often considered to be a combination tool technology and computer control.

1.2 LAWS OF ROBOTICS

SIR Isaac Asimov dealing on the subject of ROBOTICS famed three basic laws

that the ROBOCISTS still obey with respect .The laws of philosophical in nature. They are as

follows

FIRST LAW

A ROBOT must not harm a human being or through in action , allow one to come to

harm.

SECOND LAW

A ROBOT must always obey human being unless it is in conflict with first law .

2

THIRD LAW

A ROBOT must protect itself from harm unless that is in conflict with the first

and /or

the second law.

1.3 FUTURE OF ROBOTICS

ROBOTICS is the technology with the future, and it is to technology for the

future .If a present trend continous,and if some of the laboratory research currently

underway is ultimately converted into practicable technology , ROBOTS of the futures will

be mobile units with one or more arms, multiple sensor capabilities, and the computational

and the data processing power of today’s min frame computers they will b able to respond to

human voice command. They will be able to receive general instruction and will translate

those instruction using artificial intelligent into a specific set of action required to carry out

them. They will be able to see , hear ,feel , apply a precisely measured force to a object and

move under the own power.

In short , the future robots will have many of the attributes of human beings. It is

hard to imagine that robot will ever replace human in the sense of Karel Capk’s play

“ROSSUM’S UNIVERSAL ROBOT”. On the contrary, ROBOTIC is a technology can be

harnessed slowly for the benefit of the human kind.

Getting from reset to the future will require much working mechanical

engineering,electrical engineering, computer science , materials technology, manufacturing

system engineering and social science. The purpose of this book is to explore and examine

these areas which constitutes the technologies, programming, And application of industrial

ROBOTICS.

3

Chapter II

INTRODUCTION

4

2.1 INTRODUCTION

The objective of this project to operate and control the robot for

agriculture purpose. The project is designed with micro controller, solenoid valve, relay

driver circuits, relays, DC motors and mechanical arrangement. Here the micro controller

may be Atmel 89C51 or PIC micro controllers both are flash type reprogrammable micro

controller the project arrangement is connected to mechanical arrangement.

. The mechanical arrangement is designed as the tank and sharp knife

type like as ploughing which is used to dip the soil and seeds are stored in the tank. This

mechanical arrangement is connected robot we can operate the robot in forward direction,

reverse direction left side and right side. When robot is moving the ploughing machine will

dip the soil continuously to moving side. These arrangements are connected to motor

controls by relay through relay driver circuits constructed with transistors, which act as

switch, so it can control the relays. After dipped the soil the robot will activate and open the

tank mouth. So the seeds are sphereted on the drip another one arrangement will close the

dip.

In micro controller we have already programmed when you press the

button for desired action the micro controller will activate corresponding relay for that action.

This project is very useful in the agriculture for reducing the manpower and time.

2.2 BLOCK DIAGRAM

5

2.3 BLOCK DIAGRAM DESCRIPTION

The fire sensor input is given to the analog channel of the PIC

controller and it is been converted and monitored by the PIC and it is displayed in the LCD.

Whenever the fire is detected then the data is transmitted through the RF transmitter module

and it is received in RF receiver module and according to the data the robot is moved and on

the way if any bomb is detected through the proximity sensor then a alarm is heard and a

indication also displayed in the LCD. The LCD is connected to the PORTD and PORTE of

PIC F877A. The temperature sensor is connected to the analog channel at RA0. The wireless

module is connected at PIC16f877a transmission and reception pin. The motor driver are

connected to the PORTB pins. The BUZZER is connected to the PORTC.0 pin.

BLOCK DIAGRAM:

Micro contro

ller

Relay driver circuit

Relay driver circuit

Relay driver circuit

Motor 1

Motor 2

Motor 3

Robo mod

el

Solenoid

valve

Relay driver

tank

RF reciver

RF trnsmi

tter

…….............……………….....................

6

Chapter III

CIRCUIT

DIAGRAM

7

2 CIRCUIT DIAGRAM

3.1 CIRCUIT DIAGRAM WITH TRANSMITTER

8

3.2 CIRCUIT DIAGRAM WITH RECEIVER

9

Chapter IV

HARDWARE

DESCRIPTION10

4. HARDWARE DESCRIPTION 4.1 Components Included

MCU: PIC167877A with 8K Bytes Program Flash, 368 Bytes SRAM data ,256 Bytes

of EEPROM One 6V EM Relay I2C based Serial EEPROM AT24C16

RTC DS1307 with 56Byte NV RAM

LCD 16x2 display with backlight contrast adjustment

RS232 DB9 connector for System Interface

11.0592Mhz crystal oscillator

RF Transmitter and Receiver Module(433.92 Mhz)

Temperature sensor (LM 35)

4.2 RADIO FREQUENCY MODULE DESCRIPTION

Radio Frequencies modules (or sensors) are used in many different applications

ranging from a wireless mouse to chips implanted in animals for identification to

vehicle identification on toll roads. If you scroll down to the section on wireless mice,

you'll get a brief introduction to RF transmitters and receivers as applied to a wireless mouse.

4.2.1 TRANSMITER

The TWS-434 and RWS-434 are extremely small, and are excellent for

applications requiring short-range RF remote controls. The transmitter module is only 1/3 the

size of a standard postage stamp, and can easily be placed inside a small plastic enclosure.

TWS-434

The transmitter output is up to 8mW at 433.92MHz with a range of

approximately 400 foot (open area) outdoors. Indoors, the range is approximately 200 foot,

and will go through most walls.....

11

The TWS-434 transmitter accepts both linear and digital inputs, can operate from 1.5

to 12 Volts. DC, and makes building a miniature hand-held RF transmitter very easy. The

TWS-434 is approximately the size of a standard postage stamp.

TWS-434 Pin Diagram

Sample Transmitter Application Circuit

4.2.2 RECEIVER

RWS-434

The receiver also operates at 433.92MHz, and has a sensitivity of 3uV. The

RWS-434 receiver operates from 4.5 to 5.5 volts-DC, and has both linear and digital outputs.

12

RWS-434 Receiver

RWS-434 Pin Diagram

Note: For maximum range, the recommended antenna should be approximately 35cm long. 

To convert from centimeters to inches -- multiply by 0.3937.  For 35cm, the length in inches

will be approximately 35cm x 0.3937 = 13.7795 inches long. 

13

Sample Receiver Application Circuit

The example above shows the receiver section using the HT-12D decoder IC for

a 4-bit RF remote control system.  The transmitter and receiver can also use the Holtek 8-bit

HT-640/HT-648L remote control encoder/decoder combination for an 8-bit RF remote

control system.  Here are the schematics for an 8-bit RF remote control system:

14

4.3 PIC16F877A DESCRIPTION

RISC architecture

o Only 35 instructions to learn

o All single-cycle instructions except branches

Operating frequency 0-20 MHz

Precision internal oscillator

o Factory calibrated

o Software selectable frequency range of 8MHz to 31KHz

Power supply voltage 2.0-5.5V

o Consumption: 220uA (2.0V, 4MHz), 11uA (2.0 V, 32 KHz) 50nA (stand-by

mode)

Power-Saving Sleep Mode

Brown-out Reset (BOR) with software control option

35 input/output pins

o High current source/sink for direct LED drive

o software and individually programmable pull-up resistor

o Interrupt-on-Change pin

8K ROM memory in FLASH technology

o Chip can be reprogrammed up to 100.000 times

In-Circuit Serial Programming Option

o Chip can be programmed even embedded in the target device

256 bytes EEPROM memory

o Data can be written more than 1.000.000 times

368 bytes RAM memory

A/D converter:

o 14-channels

o 10-bit resolution

3 independent timers/counters

Watch-dog timer

Analogue comparator module with

o Two analogue comparators

o Fixed voltage reference (0.6V)

o Programmable on-chip voltage reference

15

PWM output steering control

Enhanced USART module

o Supports RS-485, RS-232 and LIN2.0

o Auto-Baud Detector

4.3.1 High-Performance RISC CPU

Only 35 single-word instructions to learn

All single-cycle instructions except for program branches, which are two-cycle

Operating speed: DC – 20 MHz clock input DC – 200 ns instruction cycle

Up to 8K x 14 words of Flash Program Memory

Up to 368 x 8 bytes of Data Memory (RAM)

4.3.2 Peripheral Features

Timer0: 8-bit timer/counter with 8-bit prescaler

Timer1: 16-bit timer/counter with prescaler, can be incremented during Sleep via

external crystal/clock

Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler

Two Capture, Compare, PWM modules

o Capture is 16-bit, max. resolution is 12.5 ns

o Compare is 16-bit, max. resolution is 200 ns

o PWM max. resolution is 10-bit

Synchronous Serial Port (SSP) with SPI™ (Master mode) and I2C™ (Master/Slave)

Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) Address

Detection.

4.3.3 Analog Features:

10-bit, up to 8-channel Analog-to-Digital Converter (A/D)

Brown-out Reset (BOR)

Analog Comparator module with Two analog comparators

Programmable on-chip voltage reference (VREF) module

16

Programmable input multiplexing from device inputs and internal voltage reference

Comparator outputs are externally accessible

4.3.4 PIC16F877A PIN DIAGRAM

14

17

4.4 REAL TIME CLOCK GENERAL DESCRIPTION

The DS1307 serial real-time clock (RTC) is a low-power, full binary-

coded decimal (BCD) clock/calendar plus 56 bytes of NV SRAM. Address and data are

transferred serially through an I2C*, bidirectional bus. The clock/calendar provides seconds,

minutes, hours, day, date, month, and year information. The end of the month date is

automatically adjusted for months with fewer than 31 days, including corrections for leap

year. The clock operates in either the 24-hour or 12-hour format with AM/PM indicator. The

DS1307 has a built-in power-sense circuit that detects power failures and automatically

switches to the battery supply.

4.4.1 FEATURES

Real-Time Clock (RTC) Counts Seconds, Minutes, Hours, Date of the

Month, Month,

Day of the week, and Year with Leap-Year Compensation Valid Up to

2100

56-Byte, Battery-Backed, Nonvolatile (NV) RAM for Data Storage

I2C Serial Interface.

Automatic Power-Fail Detect and Switch Circuitry

Consumes Less than 500nA in Battery- Backup Mode with

Oscillator Running.

Optional Industrial Temperature Range:-40°C to +85°C

Available in 8-Pin Plastic DIP or SO

Underwriters Laboratory (UL) Recognized

4.5 TEMPERATURE SENSOR

4.5.1 TEMPERATURE SENSOR DESCRIPTION

LM35 Precision Centigrade Temperature Sensors General Description

Temperature sensor (LM35) used to sense the temperature. The LM 35 is the

temperature sensor with the sensitivity of 10mv/ ‘c.

18

LM 35 pin diagram

The LM35 series are precision integrated-circuit temperature sensors,

whose output voltage is linearly proportional to the Celsius (Centigrade) temperature. The

LM35 thus has an advantage over linear temperature sensors calibrated in ° Kelvin, as the

user is not required to subtract a large constant voltage from its output to obtain convenient

Centigrade scaling.

The LM35 does not require any external calibration or trimming to provide

typical accuracies of ±1⁄4°C at room temperature and ±3⁄4°C over a full −55 to +150°C

temperature range. Low cost is assured by trimming and calibration at the wafer level. The

LM35’s low output impedance, linear output, and precise inherent calibration make

interfacing to readout or control circuitry especially easy. It can be used with single power

supplies, or with plus and minus supplies. As it draws only 60 μA from its supply, it has very

low self-heating, less than 0.1°C in still air. The LM35 is rated to operate over a −55° to

+150°C temperature range, while the LM35C is rated for a −40° to +110°C range (−10° with

improved accuracy).

The LM35 series is available packaged in hermetic TO-46 transistor

packages, while the LM35C, LM35CA, and LM35D are also available in the plastic TO-92

transistor package. The LM35D is also available in an 8-lead surface mount small outline

package and a plastic TO-220 package.

19

4.5.2 TYPES OF TEMPERATURE SENSORS

4.5.2.1 Engine Coolant Temperature (ECT) Sensor

The ECT needs to adjust a variety of systems based on temperatures. It is critical for

proper operation of these systems that the engine reach operating temperature and the

temperature is accurately signaled to the ECM. For example, for the proper amount of fuel to

be injected the ECM must know the correct engine temperature. Temperature sensors

measure Engine Coolant Temperature (ECT), Intake Air Temperature (IAT) and Exhaust

Recirculation Gases (EGR), etc.

20

The ECT responds to change in Engine Coolant Temperature. By measuring engine

coolant temperature, the ECM knows the average temperature of the engine. The ECT is

usually located in a coolant passage just before the thermostat. The ECT is connected to the

THW terminal on the ECM. The ECT sensor is critical to many ECM functions such as

fuel injection, ignition timing, variable valve timing, transmission shifting, etc. Always

check to see if the engine is at operating temperature and that the ECT is accurately reporting

the temperature to the ECM.

4.5.2.2 Exhaust Gas Recirculation (EGR) Temperature Sensor

The EGR Temperature Sensor is located in the EGR passage and measures the temperature of the exhaust gases. The EGR Temp sensor is connected to the THG terminal on the ECM. When the EGR valve opens, temperature increases. From the increase in temperature, the ECM knows the EGR valve is open and that exhaust gases are flowing.

21

4.5.2.3 Intake Air Temperature (IAT) Sensor

The IAT detects the temperature of the incoming air stream. On

vehicle

equipped with a MAP sensor, the IAT is located in an intake air passage. On Mass Air Flow

sensor equipped vehicles, the IAT is part of the MAF sensor. The IAT is connected to the

THA terminal on the ECM. The IAT is used for detecting ambient temperature on a cold

start and intake air temperature as the engine heats up the incoming air.

NOTE: One strategy the ECM uses to determine a cold engine start is by comparing the

ECT and IAT signals. If both are within 8'C (15'F) of each other, the ECM assumes it is a

cold start. This strategy is important because some diagnostic monitors, such as the EVAP

monitor, are based on a cold start.

224.5.3 ECT, IAT, & EGR Temperature Sensor Operation

Though these sensors are measuring different things, they all operate in the same

way. From the voltage signal of the temperature sensor, the ECM knows the temperature. As

the temperature of the sensor heats up, the voltage signal decreases. The decrease in the

voltage signal is caused by the decrease in resistance. The change in resistance causes the

voltage signal to drop.

The temperature sensor is connected in series to a fixed value resistor. The ECM

supplies 5 volts to the circuit and measures the change in voltage between the fixed value

resistor and the temperature sensor.

When the sensor is cold, the resistance of the sensor is high, and the voltage signal is

high. As the sensor warms up, the resistance drops and voltage sigal decreases. From the

voltage signal, the ECM can determine the temperature of the coolant, intake air, or exhaust

gas temperature. The ground wire of the temperature sensors is always at the ECU usually

terminal E2. These sensors are classified as thermistors.

4.5.4 Temperature Sensor Diagnostics

Temperature sensor circuits are tested for:

• opens.

• shorts.

• available voltage.

• sensor resistance.

The Diagnostic Tester data list can reveal the type of problem. An open circuit (high

resistance) will read the coldest temperature possible. A shorted circuit (low resistance) will

read the highest temperature possible. The diagnostic procedure purpose is to isolate and

identify the temperature sensor from the circuit and ECM.

High resistance in the temperature circuit will cause the ECM to think that the

temperature is colder than it really is. For example, as the engine warms up, ECT resistance

decreases, but unwanted extra resistance in the circuit will produce a higher voltage drop

signal. This will most likely be noticed when the engine has reached operating temperatures.

Note that at the upper end of the temperature/resistance scale, ECT resistance changes very

little. Extra resistance in the higher

23

temperature can cause the ECM to think the engine is approximately 20'F = 30'F colder than

actual temperature. This will cause poor engine performance, fuel economy, and possibly

engine overheating.

4.5.5 Solving Open Circuit Problems

A jumper wire and Diagnostic Tester are used to locate the problem in an open circuit.

24

4.5.6 Features

Calibrated directly in ° Celsius (Centigrade)

Linear + 10.0 mV/°C scale factor

0.5°C accuracy guarantee able (at +25°C)

Rated for full −55° to +150°C range

Suitable for remote applications

Low cost due to wafer-level trimming

Operates from 4 to 30 volts

Less than 60 μA current drain

Low self-heating, 0.08°C in still air

Nonlinearity only ±1⁄4°C typical

4.6 LIQUID CRYSTAL DISPLAY

4.6.1 LCD DESCRIPTION

We always use devices made up of Liquid Crystal Displays (LCDs) like

computers, digital watches and also DVD and CD players. They have become very common

and have taken a giant leap in the screen industry by clearly replacing the use of Cathode Ray

Tubes (CRT). CRT draws more power than LCD and are also bigger and heavier. All of us

have seen an LCD, but no one knows the exact working of it. Let us take a look at the

working of an LCD.

We get the definition of LCD from the name “Liquid Crystal” itself. It is

actually a combination of two states of matter – the solid and the liquid. They have both the

properties of solids and liquids and maintain their respective states with respect to another.

Solids usually maintain their state unlike liquids who change their orientation and move

everywhere in the particular liquid. Further studies have showed that liquid crystal materials

show more of a liquid state than that of a solid. It must also be noted that liquid crystals are

more heat sensitive than usual liquids. A little amount of heat can easily turn the liquid

crystal into a liquid. This is the reason why they are also used to make thermometer

25

4.6.2 Nematic Phase LCD

The greatest advantage of a nematic phase liquid crystal substance is that it

can bring about predictable controlled changes according to the electric current passed

through them. All the liquid crystals are according to their reaction on temperature difference

and also the nature of the substance.

Twisted Nematics, a particular nematic substance is twisted naturally. When

a known voltage is applied to the substance, it gets untwisted in varying degrees according to

our requirement. This in turn is useful in controlling the passage of light. A nematic phase

liquid crystal can be again classified on the basis in which the molecules orient themselves in

respect to each other. ranging from a magnetic field to a surface with microscopic grooves.

Classification includes Smectic and also cholesteric. Smectic can be again

classified as smectic C, in which the molecules in each layer tilt at an angle from the previous

layer. Cholesteric, on the other hand has molecules that twist slightly from one layer to the

next, causing a spiral like design. There are also combinations of these two called Ferro-

electric liquid crystals (FLC), which include cholesteric molecules in a smectic C type

molecule so that the spiral nature of these molecules allows the microsecond switching

response time. This makes FLCs to be of good use in advanced displays.

Liquid crystal molecules are further classified into thermotropic and

lyotropic crystals. The former changes proportionally with respect to changes in pressure and

temperature. They are further divided into nematic and isotropic. Nematic liquid crystals have

a fixed order of pattern while isotropic liquid crystals are distributed randomly.  The lyotropic

crystal depends on the type of solvent they are mixed with. They are therefore useful in

making detergents and soaps.

4.6.3 Making of LCD

Though the making of LCD is rather simple there are certain facts that should be

noted while making it.

The basic structure of an LCD should be controllably changed with respect to the

applied electric current.

26

The light that is used on the LCD can be polarized.

Liquid crystals should be able to both transmit and change polarized light.

There are transparent substances that can conduct electricity

To make an LCD, you need to take two polarized glass

pieces. The glas which does not have a polarized film on it must be rubbed with a

special polymer which creates microscopic grooves in the surface. It must also be

noted that the grooves are on the same direction as the polarizing film. Then, all you

need to do is to add a coating of nematic liquid crystals to one of the filters.

The grooves will cause the first layer of molecules to align

with the filter’s orientation At right angle to the first piece, you must then add a

second piece of glass along with the polarizing film. Till the uppermost layer is at a

90-degree angle to the bottom, each successive layer of TN molecules will keep on

twisting. The first filter will naturally be polarized as the light strikes it at the

beginning.   Thus the light passes through each layer and is guided on to the next with

the help of molecules. When this happens, the molecules tend to change the plane of

vibration of the light to match their own angle. When the light reaches the far side of

the liquid crystal substance, it vibrates at the same angle as the final layer of

molecules. The light is only allowed an entrance if the second polarized glass filter is

same as the final layer. Take a look at the figure below.

27

4.6.3 Working of LCD

The main principle behind liquid crystal molecules is that when an electric

current is applied to them, they tend to untwist. This causes a change in the light angle

passing through them. This causes a change in the angle of the top polarizing filter with

respect to it. So little light is allowed to pass through that particular area of LCD. Thus that

area becomes darker comparing to others.

For making an LCD screen, a reflective mirror has to be setup in the back. An

electrode plane made of indium-tin oxide is kept on top and a glass with a polarizing film is

also added on the bottom side. The entire area of the LCD has to be covered by a common

electrode and above it should be the liquid crystal substance. Next comes another piece of

glass with an electrode in the shape of the rectangle on the bottom and, on top, another

polarizing film. It must be noted that both of them are kept at right angles.

When there is no current, the light passes through the front of the LCD it will

be reflected by the mirror and bounced back. As the electrode is connected to a temporary

battery the current from it will cause the liquid crystals between the common-plane electrode

and the electrode shaped like a rectangle to untwist. Thus the light is blocked from passing

through. Thus that particular rectangular area appears blank.

28

4.6.4 Colour Liquid Crystal Display

Colour LCDs are those that can display pictures in colours. For this to

be possible there must be three sub-pixels with red, green and blue colour filters to create

each colour pixel. For combining these sub-pixels these LCDs should be connected to a large

number of transistors. If any problem occurs to these transistors, it will cause a bad pixel.

One of the main disadvantages of these types of LCDs is the size. Most

manufacturers try to reduce the height than gain it. This is because more transistors and

greater pixels will be needed to increase the length. This will increase the probability of bad

pixels.  It is very difficult or also impossible to repair a LCD with bad pixels. This will

highly affect the sale of LCDs.

4.6.5 LCD CONNECTION DETAILS

The LCD can be interfaced to the processor using the JP13 connector. RB0, RB1 and RB2

pin of the processor is connected to the RS,R/W and EN pin of the display. The RD0:RD7

pin of the processor will act as a data line and is connected to the D0:D7 pin of the Display.

The Below fig shows the LCD Connection diagram

29

PIN DIAGRAM

4.7 DC MOTOR DRIVE UNIT:

30

The system consists of two separate dc motor which are kept for symmetric and

angular movement of the robot. For driving these two independent motors a H-bridge motor

driver is used. The microcontroller output is given to the pins IN1A, IN1B, IN2A and IN2B

input pins of L293 D motor driver IC. These pins are given to a control logic unit. These

logic input terminals control each H-bridge output. However if all inputs are taken high, the

output bridge are both tri-stated. The level shifter is used to shift the logic levels as per the

input. The output pins OUT 1A, OUT 2A, OUT 1B and OUT2B is connected to the motor.

These terminals provide connection to the outputs of each of the internal H – bridge.

In any electric motor, operation is based on simple electromagnetism.

A current-carrying conductor generates a magnetic field; when this is then placed in an

external magnetic field, it will experience a force proportional to the current in the conductor,

and to the strength of the external magnetic field. As you are well aware of from playing with

magnets as a kid, opposite (North and South) polarities attract, while like polarities (North

and North, South and South) repel.

Let's start by looking at a simple 2-pole DC electric motor (here red

represents a magnet or winding with a "North" polarization, while green represents a magnet

or winding with a "South" polarization).

31

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,

commutator, field magnet(s), and brushes. In most common DC motors (and all that

BEAMers will see), the external magnetic field is produced by high-strength permanent

magnets1. The stator is the stationary part of the motor -- this includes the motor casing, as

well as two or more permanent magnet pole pieces. The rotor (together with the axle and

attached commutator) rotate with respect to the stator. The rotor consists of windings

(generally on a core), the windings being electrically connected to the commutator. The

above diagram shows a common motor layout -- with the rotor inside the stator (field)

magnets.

The geometry of the brushes,

commutator contacts, and rotor windings are such that when

power is applied, the polarities of the energized winding and

the stator magnet(s) are misaligned, and the rotor will rotate

until it is almost aligned with the stator's field magnets. As

the rotor reaches alignment, commutator contacts, and

energize the next winding. Given our example two-pole

motor, the rotation reverses the direction of current through

the rotor winding, leading to a "flip" of the rotor's magnetic

field, driving it to continue rotating.

In real life, though, DC motors will

always have more than two poles (three is a very common

number). In particular, this avoids "dead spots" in the

commutator. You can imagine how with commutator contacts

simultaneously). This would be bad for the power supply.

Yet another disadvantage of such a simple motor is that it

would exhibit a high amount of torque "ripple" (the amount

of torque it could produce is cyclic with the position of the

rotor).

32

So since most small DC motors are of a three-pole design, let's tinker with the

workings of one via an interactive animation (JavaScript required):

You'll notice a few things from this -- namely, one pole is fully energized at a

time (but two others are "partially" energized). As each brush transitions from one

commutator contact to the next, one coil's field will rapidly collapse, as the next coil's field

will rapidly charge up (this occurs within a few microsecond). We'll see more about the

effects of this later, but in the meantime you can see that this is a direct result of the coil

windings' series wiring:

33

There's probably no better way to see how an average DC

motor is put together, than by just opening one up.

Unfortunately this is tedious work, as well as requiring the

destruction of a perfectly good motor.

Luckily for you, I've gone ahead and done this in your stead.

The guts of a disassembled Mabuchi FF-030-PN motor (the

same model that Solarbotics sells) are available for you to see

here (on 10 lines / cm graph paper).

The use of an iron core armature (as in the Mabuchi, above) is quite

common, and has a number of advantages2. First off, the iron core provides a strong, rigid

support for the windings -- a particularly important consideration for high-torque motors. The

core also conducts heat away from the rotor windings, allowing the motor to be driven harder

than might otherwise be the case. Iron core construction is also relatively inexpensive

compared with other construction types.

But iron core construction also has several disadvantages. The iron

armature has a relatively high inertia which limits motor acceleration. This construction also

results in high winding inductances which limit brush and commutator life.

In small motors, an alternative design is often used which features a

'coreless' armature winding. This design depends upon the coil wire itself for structural

integrity. As a result, the armature is hollow, and the permanent magnet can be mounted

inside the rotor coil. Coreless DC motors have much lower armature inductance than iron-

core motors of comparable size, extending brush and commutator life.

34

Diagram courtesy of Micro Motor

The coreless design also allows manufacturers to build smaller motors;

meanwhile, due to the lack of iron in their rotors, coreless motors are somewhat prone to

overheating. As a result, this design is generally used just in small, low-power motors.

BEAMers will most often see coreless DC motors in the form of pager motors.

35

4.8 DS1307 RTC Interface

The DS1307 serial real-time clock (RTC) is a low-power, full binary-

coded decimal (BCD) clock/calendar plus 56 bytes of NV SRAM.Address and data are

transferred serially through an I2C*, bidirectional bus. The clock/calendar provides seconds,

minutes, hours, day, date, month, and year information. The end of the month date is

automatically adjusted for months with fewer than 31 days, including corrections for leap

year. The clock operates in either the 24- hour or 12-hour format with AM/PM indicator. The

DS1307 has a built-in power-sense circuit that detects power failures and automatically

switches to the battery supply. The below fig shows the interface diagram of DS1307

RTC.The I2C bus us used to interface the RTC to the Processor. The SDA and SCL lines of

the processor is connected to the SDA/SCL line of the RTC which is used for data

communication and clock synchronization.

.

.

36

4.9 MAX-232 Serial Interface

4.9.1 RS232 System Interface

The MAX232 Serial driver is used for system Interface. The Tx and Rx line of

the processor is connected to the T1IN and R1OUT pin the Serial driver. The TXD and RXD

pin of the serial driver is connected to the 2 and 3 pin of the DB9 connector and this

connector is used for system interface

37

4.10 POWER SUPPLY

4.10.1 Block Diagram

The ac voltage, typically 220V rms, is connected to a transformer, which steps

that ac voltage down to the level of the desired dc output. A diode rectifier then provides a

full-wave rectified voltage that is initially filtered by a simple capacitor filter to produce a dc

voltage. This resulting dc voltage usually has some ripple or ac voltage variation.

A regulator circuit removes the ripples and also remains the same dc value

even if the input dc voltage varies, or the load connected to the output dc voltage changes.

This voltage regulation is usually obtained using one of the popular voltage regulator IC

units.

4.10.2 Working principle

4.10.2.1 Transformer

The potential transformer will step down the power supply voltage (0-230V)

to (0-6V) level. Then the secondary of the potential transformer will be connected to the

precision rectifier, which is constructed with the help of op–amp. The advantages of using

precision rectifier are it will give peak voltage output as DC, rest of the circuits will give only

RMS output.

38

4.10.2.2 Bridge rectifier

When four diodes are connected as shown in figure, the circuit is called as

bridge rectifier. The input to the circuit is applied to the diagonally opposite corners of the

network, and the output is taken from the remaining two corners. Let us assume that the

transformer is working properly and there is a positive potential, at point A and a negative

LOATRANSFORMR RECTIFIER FILTER IC REGULATOR

potential at point B. the positive potential at point A will forward bias D3 and reverse bias

D4.

The negative potential at point B will forward bias D1 and reverse D2. At this

time D3 and D1 are forward biased and will allow current flow to pass through them; D4 and

D2 are reverse biased and will block current.

The path for current flow is from point B through D1, up through RL, through

D3, through the secondary of the transformer back to point B. this path is indicated by the

solid arrows. Waveforms (1) and (2) can be observed across D1 and D3.

One-half cycle later the polarity across the secondary reverse, forward biasing

D2 and D4 and reverse biasing D1 and D3. Current flow will now be from point A through

D4, up through RL, through D2, through the secondary of T1, and back to point A. This path

is indicated by the broken arrows. Waveforms (3) and (4) can be observed across D2 and D4.

The current flow through RL is always in the same direction. In flowing through RL this

current develops a voltage corresponding to that shown waveform (5). Since current flows

through the load (RL) during both half cycles of the applied voltage, this bridge rectifier is a

full-wave rectifier.

39

One advantage of a bridge rectifier over a conventional full-wave rectifier is that

with a given transformer the bridge rectifier produces a voltage output that is nearly twice

that of the conventional full-wave circuit.

This may be shown by assigning values to some of the components shown in

views A and B. assume that the same transformer is used in both circuits. The peak voltage

developed between points X and y is 1000 volts in both circuits. In the conventional full-

wave circuit shown—in view A, the peak voltage from the center tap to either X or Y is 500

volts. Since only one diode can conduct at any instant, the maximum voltage that can be

rectified at any instant is 500 volts.

The maximum voltage that appears across the load resistor is nearly-but never

exceeds-500 v0lts, as result of the small voltage drop across the diode. In the bridge rectifier

shown in view B, the maximum voltage that can be rectified is the full secondary voltage,

which is 1000 volts. Therefore, the peak output voltage across the load resistor is nearly 1000

volts. With both circuits using the same transformer, the bridge rectifier circuit produces a

higher output voltage than the conventional full-wave rectifier circuit.

4.10.2.3 IC voltage regulators

Voltage regulators comprise a class of widely used ICs. Regulator IC units

contain the circuitry for reference source, comparator amplifier, control device, and overload

protection all in a single IC. IC units provide regulation of either a fixed positive voltage, a

fixed negative voltage, or an adjustably set voltage. The regulators can be selected for

operation with load currents from hundreds of milli amperes to tens of amperes,

corresponding to power ratings from milli watts to tens of watts.

40

Circuit Diagram Of Power Supply

A fixed three-terminal voltage regulator has an unregulated dc input voltage, Vi,

applied to one input terminal, a regulated dc output voltage, Vo, from a second terminal, with

the third terminal connected to ground.

The series 78 regulators provide fixed positive regulated voltages from 5 to 24 volts.

Similarly, the series 79 regulators provide fixed negative regulated voltages from 5 to 24

volts.

For ICs, microcontroller, LCD --------- 5 volts

For alarm circuit, op-amp, relay circuits ---------- 12 volts

41

4.10.3 ADVANTAGES

The robot cost is cost efficient so that because most of peripherals are inbuilt.

Power consumption low.

Low cost.

Implement is easy.

4.10.4 Applications:

This project can be implemented in all industries, educational institutions, and

also for domestic purposes In this project we have used advanced technique so that this

technique can be implemented for others things also.

42

Chapter V

SOFTWARE DESCRIPTION

43

5. SOFTWARE DESCRIPTION

5.1 KEIL Version III

5.1.1 Front end

Keil development tools offer a complete development environment for ARM, Cortex-M, and Cortex-R processor-based devices. They are easy to learn and use, yet powerful enough for the most demanding embedded applications.

44

5.1.2 Features

Support for Cortex-M0, Cortex-M1, Cortex-M3, Cortex-M4,Cortex-R4,

ARM7, and ARM9 devices,µVision IDE,debugger, and simulation

environment.

ARM industry-leading C/C++ compiler from ARM MicroLib highly

optimized run-time library Sophisticated Trace and analysis tools for Cortex-

M processor-based devices

Keil RTX full featured, configurable Real-Time Operating System.Keil RTX

Real-Time Operating System with full source code

TCPnet Comprehensive TCP networking suite

Flash File System

CAN Driver Library

USB Device Interface

5.1.3 ULINK Debug Adapters

The ULINK Products enable sophisticated Debugging, Real-Time Trace

and Flash programming via JTAG and Serial Wire Debug modes. The new

ULINK products includes unique streaming trace technology which delivers

enhanced program analysis including Code Coverage and Execution

Profiling.

5.1.4Evaluation Boards Keil offer many Evaluation Boards and starter kits for today’s most

popular MCU devices based on Cortex-M0, Cortex-M3, Cortex-R4, ARM7,

and ARM9.

45

Chapter VI

CONCLUSION

46

6. CONCLUSION:

Lastly I found this project very challenging and at the same time enjoyable

and rewarding as our robot operated as required on completion of the project. This project has

given me experience in working with a team and having to complete a project within a given

timeframe. From this project I have learnt how we can bring all the different areas of

engineering together (such as mechanical, electrical, electronic and software) and apply them

to a real life project.

The control system we used was by far the most complicated part of our

project; the behavior control was a good choice to make, as it managed to simplify the

process substantially. A major part of our control was using pulse width modulation to

control the speeds of our drive motors; this was successful however it caused problems with

the stalling point of the motors as the battery voltage dropped off.

6.1 EXISTING TECHNOLOGIES

6.1.1 Latest technology in automated agriculture

That’s right folks, if you were lucky enough to stumble across this article, you

have the privilege of seeing the latest technology in automated agriculture at work. This

invaluable tool comes all the way from Belarus, a country that apparently spares no effort

when it comes to investing in new technology.

47

This revolutionary agricultural device is a state-of-the-art cucumber harvester

that uses the newly discovered power of people on their bellies. That’s right, people sitting on

their bellies being pulled by a tractor. It’s simple and effective and I for one can’t wait to get

my hands on one, cucumber harvesting will never be the same again.

48

6.1.2 Japan’s First Autonomous Agricultural Robot

According to an ancient folk song "Planting (rice) is never fun, Bent from up 'till

the set of sun. Can stand and can not sit, can not rest for a little bit". This is how planting rice

used to be and oh well, some other countries do still have these traditional way.However in

Japan, planting will never be as cruel as it should be, because robots can now do the job. Fuji

Heavy Industries, Japan's major conglomerate has developed an agricultural robot that can do

the farming hard work autonomously.

The robot which runs on gas and is 2m long, 60cm wide and 1m high, is capable

of orienting itself by emitting and receiving laser signals, measuring the distance with special

reflective plates (which are placed at regular intervals of about 10 meters). Fuji Heavy says

the robot farmer can plant and cultivate fruits and vegetables by itself. It is planned to be

available in the market in 2010 with a selling price of about $100,000.

49

6.1.3 PROGRAMMING

#include <16F877A.h>

#device adc=10

#use delay(clock=11059200)

//#fuses Nowdt,hs,NOBROWNOUT,NOLVP

#byte trisd=0x88

#byte portd=0x08

#byte trisa=0x85

#byte porta=0x05

#byte trisb=0x86

#byte portb=0x06

#bit sel1=0x06.1

#bit sel2=0x06.2

#bit sel3=0x06.3

#bit sel4=0x06.4

#byte trisc=0x87

#byte portc=0x07

#byte trisd=0x88

#byte portd=0x08

#byte porte=0x09

#byte trise=0x89

#bit key=0x05.5

#bit reg=0x09.0 //register selection

#bit rw=0x09.1 //read & write

#bit en=0x09.2

50

#byte intcon=0x0b

#byte option_reg=0x81

#byte tmr0=0x01

#byte trisa=0x85

#byte porta=0x05

int16 value,value1,dat;//count1,count,min1,min,hr,hr1;

int16

k,d,x[4],count1,count,count2,count3,count4,count5,count6,count7,count8,min1,min,min

2,hr,hr1,hr2;

int16

i=0,l,m=0,j=0x80,min3,min4,min5,min6,min7,min8,hr3,hr4,hr5,hr6,hr7,hr8;

const int16

seg[10]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x67};//,0x77,0x7c,0x39,0x5e,0x

79,0x71};

void display_function(int16);

#zero_ram

void command(unsigned char com) /*********TO GIVE DATAS FOR

FORMET,DISP ON,etc..***********/

{

portd=com;

reg=0;

rw=0;

en=1;

delay_ms(1);

en=0;

} 51

void data(unsigned char da) /********TO WRITE REQUIRED

OUTPUT***********/

{

portd=da;

reg=1;

rw=0;

en=1;

delay_ms(1);

en=0;

}

#int_timer0

timer0_isr()

{

dat++;

if(dat>=719)

{

dat=0;count++;if(count>=60)

{

count=0;min++;

}

if(min==60)

{

min=0;hr++;}if(hr>=12)hr=0;

}

}

void stopm1(int16 n)

{ 52

for(d=0;d<2;d++)

{

x[d]=n%10;

n=n/10;

}

data(x[1]|0x30);

data(x[0]|0x30);

}

void main()

{

setup_adc_ports(AN0);

setup_adc(ADC_CLOCK_INTERNAL);

trisd=0x00;

trisb=0x00;

trisa=0xff;

porta=0;

trisc=0x00;

portc=0xff;

trisd=0;

trise=0;

portd=0;

porte=0;

option_reg=0x03;

intcon=0xe0;

tmr0=0x00;

53

command(0x38); //data for function set

command(0x0e); // " " entery mode set

command(0x0c); // " " display on

command(0x01);

command(0x80);

data("INTELLIGENT ROBOT");

//command(0xC0);

//data("FIGHTING ROBOT ");

delay_ms(2000);

command(0x01);delay_ms(200);

while(1)

{

set_adc_channel(0);

delay_us(50);

value = read_adc();

value1=value/2;

display_function(value1);

portc=0xff;

command(0x80);

data("INTELLIGENT ROBOT");

command(0xc0);

data("time:");

command(0xc5);

stopm1(hr);

data(':');

command(0xc8);

stopm1(min); data(':');

54

command(0xcb);

stopm1(count);

if(key==0)

{

delay_ms(500);

if(count2==1)

{

count2=0;

command(0xc0);

data("time:");

command(0xc5);

stopm1(hr1);

data(':');

command(0xc8);

stopm1(min1); data(':');

command(0xcb);

stopm1(count1);

delay_ms(2000);

}

}

//command(0x01);

if( value1>=50)

{

count2=1;count1=count; min1=min; hr1=hr;

command(0x80);

data("FIRE OCCURED ");

portc=0x00; 55

delay_ms(2000);

}

}

}

void display_function(int16 an_value)

{

int8 a[4],i;

for(i=0;i<3;i++)

{

a[i]=an_value%10;

an_value=an_value/10;

}

portd=seg[a[0]];sel1=1;delay_ms(1);sel1=0;

portd=seg[a[1]];sel2=1;delay_ms(1);sel2=0;

portd=seg[a[2]];sel3=1;delay_ms(1);sel3=0;

portd=seg[a[3]];sel4=1;delay_ms(1);sel4=0;

}

56

Chapter VII

BIBLIOGRAPHY

57

7. BIBLIOGRAPHY

7.1 References

The 8051 microcontroller and embedded systems------Mohammad Ali Mazidi

Microchip PIC16f877a datasheet-------------------------Microchip

Microcontroller Programming: The Microchip PIC

by Julio Sanchez and Maria P. Canton

Design of PIC microcontrollers---------------------------John Peatman

Embedded C by……………………………………… Michael J. Pont

Handbook of Smart Antennas for RFID Systems by………….. Nemai Chandra Karmakar

Principles of electronics -----------------------------------V.K. Metha

ELECTRONICS FOR YOU, ELECTRONICS MAKER, ELECKTOR ELECTRONICS

ETC.,

Acroname Easier Robotics. (2004). The Hamamatsu UVTron Flame Detector Package.

[Brochure]. Richards, S: Author.

Acroname Easier Robotics. (2004). The Sharp GP2D02 and GP2D05 infrared Object

Detectors. [Brochure]. Richards, S: Author.

Paper 143.472 Industrial Systems Design and Integration (2006). Fire-Fighting Robot.

[Brochure]. Xu, W.L: Author.

Renasas (2006). M16C62P Group Single Chip 16-Bit Microcomputer. Retrieved March 12,

2006 from the World Wide Web:

http://documentation.renesas.com/eng/products/mpumcu/rej03b0001_16c62pds.pdf

7.2 WEBSITES:www.microchip.com

www.atmel.com

www.beyondlogic.com

www.embedded.com

www.microcontroller.com 58