surveillance robot

SURVEILLANCE ROBOT

ABSTRACT

This project is functioning of “SURVEILLANCE ROBOT” an ordinary mobile or

computer control system which consists of a transmitter and a receiver .The robot is

controlled by the mobile phone or computer held by the user, which communicates with

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

pressed, a tone corresponding to the button pressed is heard at the receiver end, which is

called ‘Dual Tone Multiple frequency’ (DTMF) tone. The robot receives these tones via

the receiver mobile phone which is on board. The received tone is processed by the

microcontroller with the help of DTMF decoder IC MT8870DE . This IC communicates

with the motor driver IC L293d through the microcontroller interface which drives the

motor in forward, reverse, right and left directions according to the user’s key press. The

microcontroller featuring this project will be the AVR microcontroller, ATmega8

BAPATLA ENGINEERING COLLEGE

SURVEILLANCE ROBOT

CHAPTER 1

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

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

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

is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the

help of phone stacked in the robot. The received tone is processed by the atmega8

microcontroller with the help of DTMF decoder MT8870DE. The decoder decodes the

DTMF tone in to its equivalent binary digit and this binary number is send to the

microcontroller, the microcontroller is preprogrammed to take a decision for any give

input and outputs its decision to motor drivers in order to drive the motors for forward or

backward motion or a turn .

The mobile or computer that makes a call to the mobile phone stacked in

the robot acts as a remote. So this simple robotic project does not require the construction

of receiver and transmitter units. DTMF signaling is used for telephone signaling over the

line in the voice frequency band to the call switching center. The version of DTMF used

for telephone dialing is known as touch tone. The received tone is processed by the

microcontroller with the help of DTMF decoder. The microcontroller then transmits the

signal to the motor driver ICs to operate the motors & our robot starts moving

Conventionally. The Control of robot involves three distinct phases: perception,

processing and action. Generally the preceptors are sensors mounted on the robot,

processing is done by the on-board microcontroller or process and the task is performed

using motors or with some other actuators

DTMF decoder, Microcontroller and motor driver .An MT8870DE series

DTMF decoder is used here. All types of the MT8870 series use digital counting

techniques to detect and decode all the sixteen DTMF signals. DTMF assigns a specific

frequency (consisting of two separate tones) to each keys that it can easily be identified

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


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

different frequencies. i.e., pressing 5 will send a tone made by adding 1336 Hz and 770

Hz to the other end of the mobile. The important components of this robot are tone pairs

into a four bit code output. The built -in dial tone rejection circuit eliminated the need for

pre- filtering.

Figure 1.1: Overview Block Diagram of the mobile control System

Figure 1.2: Overview Block Diagram of the computer control System

CHAPTER 2


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SYSTEM COMPONENTS

AVR Development Board 118010:-

Figure2.1:AVR development board

• Includes Atmel’s ATmega8 Microcontroller with 8kb flash memory working at

16MIPS.

• On-board LCD interface (it can also be used for any other general purpose

application).

• On-board Motor Driver for connecting 4 DC motors or 2 Stepper motors

• Onboard servo interface.

• On-board regulated power supply.


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• PC interface through UART.

• On-board Buzzer.

• 12 MHz external crystal.

• Exposed all 21 I/O pins.

• Exposed 7 channel I/O pins for ADC.

• Exposed 12 I/O channels for sensors and other peripherals with 5V/1A power

supply.

• Exposed 8 channel I/O pins for servo, sensors and other peripherals with dual

power supply.

• Four tact switches for external input and reset.

• Four test surface mounted LEDs for status and debugging purpose.

• Two supply indicator LEDs.

• Dual power supply through DC source (6V to 16V) or USB powered.

• On board USB programmer.

• Dual or single power supply option.

• Exposed ISP pins for programming.

• Option for connect or disconnect LEDs.

• Option for separate AREF (Analog Reference) for ADC.

• Option for separate AVCC (Analog VCC) for ADC.

2.1.1 PARTS IDENTIFICATION:-


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Microcontroller It is a micro computer chip which stores our programs executes them and takes necessary

action. The chip used here is Atmel popular AVR micro controller.

1117 VOLTAGE REGULATOR It is a three terminal 5V voltage regulator IC used to provide a constant voltage supply of

5V to the micro controller and other peripherals (i.e. sensors etc.) attached in the main

board.

MAX232 This IC takes care of voltage conversion needed for the communication between the PC's

RS-232 (Serial/COM) port and AVR Development board.

L293DNE MOTOR DRIVER This is basically a motor driver IC which takes input from microcontroller and is able to

drive the DC and stepper motors by using separate power supply.

RST (Reset switch)

The Reset switch is basically used to reset a running program right to the beginning it is

same as the reset switch of a PC.

POWER (Power On Switch):

It is basically a toggle switch used to provide power supply to the main board. The power

can be supplied either by a battery power supply (through LS) or can be USB powered.

Thus, the POWER switch can be made to toggle between MP (Main Power) or UP (USB

Power).

PTOG (Power Toggle Switch):


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It is basically a toggle switch which toggles the power for the devices connected to

PORTB either to use the internal power supply (5V) of the main board (by setting the

switch in 5V mode) or to use any other external power source connected in DS for the

high power applications like servo motors (by setting the switch in EXT mode).

PROG (Programming Switch): It is also a toggle switch for programming the microcontroller using on board USB

programmer. For programming mode it should be ON then RESET button should be

pressed. For normal operation it should be off.

POWER SUPPLY

LS (Logic Supply) It consist of two pins one is +ve and another is –ve. A battery or a AC adaptor can be

connected here to provide power supply to the mother board it provides regulated power

supply to all the peripherals present in the mother board and also to the external

peripherals connected to the motherboard through a voltage regulator. The DC voltage

provided to this terminal should be lies in between 6 to 16 volt. To use the supply

connected in LS pin the power switch should be toggled towards “MP” (Main power).

DS (Driving Supply)It consist of two pins one is +ve and another is –ve.It is basically use to provide a

separate high current power supply to the Motors. For operating DC motors you may

provide here a Power supply of 5 to 40 volt. For operating a servo motor you may

suppose to provise any suitable power supply as per the requirement of your motors

(mostly servos works at 4.5 to 6 volt). Power from this pins are directly goes to the

driving supply of the motor driver and to the supply pins of PortB if PTOG switch is

toggled towards EXT.

USB socket:


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It is basically used for USB communication with the PC. It also provides necessary logic

supply to the motherboard. In order to use the USB supply the POWER switch should be

toggled towards UP (USB power). When using the USB power some prequtions should

be taken such as any heavy load should not be connected to the board directly and

Don’t use the J1.

LED’s Active high:

LED1 – RED PORTB0

RED LED2 – PORTB1

RED LED3 – PORTB2

RED LED4 – PORTB3

ORANGE LS I- Logic Power ON indicator

GREEN DS I- Driver Power ON indicator

ISP (IN-SYSTEM PROGRAMMING) INTERFACE It is the In-System Programming interface of the main board which can be used to

connect any ISP programmer to download the programs in the microcontroller. It can also

be used in SPI (Serial Peripheral Interface) communication. The pins provided for ISP are

given below:

MOSI- Master Out Slave in PortB3

MISO- Master in Slave out PortB4

SCK- Serial clock PortB5

RST- Reset

GND- Ground

RS – 232 INTERFACE


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These is a 3-pin interface that can be used for PC controlled applications, debugging

purpose, data communication with PC and for inter board data communication. The port

consists of three pins, namely, R - Receiver T - Transmitter G - Ground.

PB (PORTB) It is a general purpose I/O port. This port contains six pins that can be used as digital

input and digital output. These pins are in the form, DATA-VCC-GROUND (denoted as

D + - respectively on the board). The Data pins are towards the microcontroller. The

VCC and Ground pins are provided with a 5V/1A power supply and or the supply to

these pins can also be switched to external supply connected in DS pin through PTOG

switch.

MOTOR DRIVER CONNECTIONS The motor drivers are used to run the DC motors or stepper motors that may be connected

to the board according to the data from the microcontroller. The motor driver’s link with

micro controller is shown bellow.

M0 - PortB0

M1 - PortB1

M2 - PortB2

M3 - PortB3

M4 - PortD4

M5 - PortD5

M6 - PortD6

M7 - PortD7

2.2. MICROCONTROLLER BAPATLA ENGINEERING COLLEGE

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2.2.1. ATMEGA8

Figure2.2.1: ATMEGA8 Microcontroller

The AVR is a Modified Harvard architecture 8-bit RISC single chip

microcontroller which was developed by Atmel in 1996. The AVR was one of the first

microcontroller families to use on-chip flash memory for program storage, as opposed to

One-Time Programmable ROM, EPROM, or EEPROM used by other microcontrollers at

the time. Atmel's low power, high performance AVR microcontrollers handle demanding

8 and 16-bit applications. With a single cycle instruction RISC CPU, innovative Pico

Power® technology, and a rich feature set, the AVR architecture ensures fast code

execution combined with the lowest possible power consumption. Whether you program

in C or assembly, the tuned AVR instructions decrease program size and development

time. The well-defined I/O structure limits the need for external components and reduces

development cost.

The AVR microcontrollers are divided into 4 families tiny AVR, mega AVR,

XMEGA and Application specific AVR. Among these 4 families of AVR here we are

going to use a microcontroller of mega AVR family “ATmega8”.

2.2.2 ATMEGA8 pin Layout


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Features• High-performance, Low-power AVR® 8-bit Microcontroller

• Advanced RISC Architecture

– 130 Powerful Instructions – Most Single-clock Cycle Execution

– 32 x 8 General Purpose Working Registers

– Fully Static Operation

– Up to 16 MIPS Throughput at 16 MHz

– On-chip 2-cycle Multiplier

• High Endurance Non-volatile Memory segments

– 8K Bytes of In-System Self-programmable Flash program memory

– 512 Bytes EEPROM

– 1K Byte Internal SRAM

– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM (1)(3)

– Data retention: 20 years at 85°C/100 years at 25°C (2)(3)


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– Optional Boot Code Section with Independent Lock Bits

In-System Programming by On-chip Boot Program

True Read-While-Write Operation

– Programming Lock for Software Security

• Peripheral Features

– Two 8-bit Timer/Counters with Separate Prescaler, one Compare Mode

– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture

Mode

– Real Time Counter with Separate Oscillator

– Three PWM Channels

– 8-channel ADC in TQFP and QFN/MLF packageEight Channels 10-bit Accuracy

– 6-channel ADC in PDIP package

Six Channels 10-bit Accuracy

– Byte-oriented Two-wire Serial Interface

– Programmable Serial USART

– Master/Slave SPI Serial Interface

– Programmable Watchdog Timer with Separate On-chip Oscillator

– On-chip Analog Comparator

• Special Microcontroller Features

– Power-on Reset and Programmable Brown-out Detection

– Internal Calibrated RC Oscillator

– External and Internal Interrupt Sources

– Five Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, and

Standby

• I/O and Packages

– 23 Programmable I/O Lines

– 28-lead PDIP, 32-lead TQFP, and 32-pad QFN/MLF

• Operating Voltages

– 2.7 - 5.5V (ATmega8L)

– 4.5 - 5.5V (ATmega8)


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• Speed Grades

– 0 - 8 MHz (ATmega8L)

– 0 - 16 MHz (ATmega8)

• Power Consumption at 4 Mhz, 3V, 25°C

– Active: 3.6 mA

– Idle Mode: 1.0 mA

– Power-down Mode: 0.5 μA

2.2.3.Internal architecture:


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Figure 2.2.3. Internal architecture for avr microcontroller

2.3 L293D MOTOR DRIVER


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L293D is a dual H-bridge motor driver integrated circuit (IC). The current

from the microcontroller is only of the order of 1µA which is not sufficient to drive the

motors. Therefore motor drivers are used which act as current amplifiers since they take a

low-current control signal and provide a higher-current signal which is used to drive the

motors.

Figure 2.3. Pin Layout of L293D MOTOR DRIVER

L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation,

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

motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 &

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

In clockwise and anti clockwise directions respectively. Enable pins 1 and 9

(corresponding to the two motors) must be high for motors to start operating. When an

enable input is high, the associated driver gets enabled. As a result, the outputs become

active and work in phase with their inputs. Similarly, when the enable input is low, that

driver is disabled, and their outputs are off and in the high-impedance state

2.3.1 L293D Pin Layout


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Fig2.3.1 L293D Pin Layout

The motor being used is a Dual H-Bridge Motor Driver that can provide

bidirectional currents.The motors are controlled by a 5V “logical” supply voltage

and run on a separate 9V supply.

It consists of Input pins 1-4 (pins 2, 7, 10, 15) and output pins 1-4 (Pins 3, 6, 11,

14). Pin 1 (Enable 1) starts the left Bridge while Pin 9 (Enable 2) starts the right

bridge.

Inputs 1 and 2 correspond to one motor where if Input 1 has a high voltage (5V)

and Input 2 has a low voltage (0V).The motor moves forward, whereas if the

opposite occurs the motor moves in reverse.

.


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2.4 DTMF decoder

Dual Tone Multi Frequency is a technology that can be used to send information

through phone lines. It is very common in Australia, where many companies use it as a

way to decode and call typed numbers. The idea of using DTMF in applications is not

new, but the purpose of this paper is to address a new approach to this. Most mobiles

have this technology and by using the right techniques, decoded DTMF signals can be

used in robotic microcontrollers to make the robot perform certain actions. One could use

DTMF to create a robot that would navigate its way through a set “arena” or space to a

specific location by press of a button on a cell phone. The investigation will be based on

the situation where one or several trips have to be made between two points following a

path and will try taking into account the changing nature of this environment. The

algorithm will mainly focus on starting the robot using a mobile and controlling the robot

to navigate past the obstacles in its path to a specific point. The DTMF system uses eight

frequency signals transmitted in pairs to represent sixteen numbers, symbols and

letters(Table1). Pressing a key will cause a high and low tone for each of the two

frequencies. The MT8870DE IC, using digital counting techniques, decodes these two

tones to determine the being pressed. The tone from the phone is filtered through the

operational filter.

A high voltage on the Output enable pin (pin10) enables outputs D0, D1, D2 and D3,

which are the decoded outputs of the IC. DV (pin 15) is an output pin that is set high by

the IC just after the output pins D0-3 have been filled; this action shows the data is valid

and usable. RT/GT and EST monitor the time taken for the authenticity check of the tone.

If the tone is too long the steering control mechanism of these pins will automatic fill the

latches of the D0, D1, D2 and D3 pins after which it will set the DV pin high to indicate

the output is ready for use by the microcontroller. By this process the DTMF decoder can

decode 16 different key tone sin 4 bit binary code output.

DTMF (Dual Tone Multi Frequency) better known as touch-tone is a system of

signal tones used in telecommunication. Applications include voice mail, help desks,


SURVEILLANCE ROBOT

telephone banking, etc.There are twelve DTMF signals, each of which aremade up of two

tones from the following selection: 697Hz, 770 Hz, 852 Hz, 941 Hz, 1209 Hz, 1336 Hz,

and 1477 Hz. The tones are divide into two groups (low and high), and each DTMF

signal uses one from each group. This prevents many harmonics from being

misinterpreted as a part of signal.

Figure 2.4: DTMF Generator


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Table 2.4- Four Bit binary code for each key tone number


Digit OE D0 D1 D2 D3

1 H 1 0 0 0

2 H 0 1 0 0

3 H 1 1 0 0

4 H 0 0 1 0

5 H 1 0 1 0

6 H 0 1 1 0

7 H 1 1 1 0

8 H 1 0 0 0

9 H 1 0 0 1

0 H 0 1 0 1

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2.5 BATTERY:-

9-volt batteries power our motors. They can be found in most homes. But these batteries

can be a fire hazard if not stored safely or disposed of with care. 9-volt batteries can be

dangerous. The positive and negative posts are close together. If a metal object touches

the two posts of a 9-volt battery, it can cause a short circuit. This can make enough heat

to start a fire

Figure2.5:Batteries

It is unsafe to store 9-volt batteries in a drawer near paper clips, coins, pens, or other

batteries. Do not store common household items such as steel wool, aluminum foil, and

keys near 9-volt batteries. If these items touch the two posts, there is a greater risk of a

fire starting. HV Weak batteries may have enough charge to cause a fire. Some fires have

started in trash when 9-volt batteries were thrown away with other metal items. Keep

batteries in original packaging until you are ready to use them. If loose, keep the posts

covered with masking, duct, or electrical tape. Prevent the posts from coming in

contact with metal objects. Do not store them in containers with other batteries. 9-volt

batteries should not be thrown away with trash. They can come in contact with other

batteries or pieces of metal.HV 9-volt batteries can be taken to a collection site for house

hold hazardous waste. To be safe, cover the positive and negative posts with masking,

duct, or electrical tape before getting rid of batteries.HV Some states do not allow any

type of battery to be disposed of with trash. Check with your city or town for the best

way to get rid of batteries.


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2.6 MOTORS

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. The internal configuration of a DC motor is

designed to harness the magnetic interaction between a current-carrying conductor and an

external magnetic field to generate rotational motion.

Figure2.6.1 .Dc motor internal architecture

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). 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 magnets. The stator is the stationary part of the motor i.e., this includes the

motor casing, as well as two or more permanent magnet pole pieces. The rotor (together


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with the axle and attached commutator) rotates 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.This is a 60 RPM low cost single shaft L-SHAPED DC geared

motor. It is most suitable for light weight robot requiring small power. This motor can be

used with 69mm Diameter Wheel for Plastic Gear Motors and 87mm Diameter

Multipurpose Wheel for Plastic Gear Motors.

Specifications:• Voltage: 12V Dc

• Torque: 3.096 kg-cm

• Current: 57.6mA

• RPM: 60

• Shaft length: 7mm double-flat

• Size: 55x48x23 mm

• Weight: 32grams

Figure2.6.2 :Dc motor with cable

2.7 LDR


http://www.robomart.com/

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A Light Dependent Resistor (aka LDR, photoconductor, photocell, or photo

resistor.) is a device which has a resistance which varies according to the amount of light

falling on its surface, when light falls upon it then the resistance changes. Light

dependent resistors or LDRs are often used in circuits where it is necessary to detect the

presence of light, or the ambient level of light, often to create a light triggered switch.

Different LDR’s have different specifications, a typical LRD has a resistance in total

darkness of 1 MOhm, and a resistance of a couple of kOhm in bright light (10-20kOhm

@ 10 lux, 2-4kOhm @ 100 lux). It is not uncommon for the values of resistance of an

LDR to be several megohms in darkness and then to fall to a few hundred ohms in bright

light. With such a wide variation in resistance, LDRs are easy to use and there are many

LDR circuits available. LDRs are made from semiconductor materials to enable them to

have their light sensitive properties. Many materials can be used, but one popular

material for these LDR’s is cadmium sulphide (CdS).

Figure2.7.1:Plastic Photocell

Uses for Light Dependent Resistors. Light dependent resistors are a vital component in

any electric circuit which is to be turned on and off automatically according to the level

of ambient light - for example, solar powered garden lights, and night security lighting.


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An LDR is made of semiconductor material with a high resistance. It has a high light

resistance because there are very few electrons that are free and able to move - the vast

majority of the electrons are locked into the crystal lattice and unable to move. Therefore

in this state there is a high LDR resistance. As light falls on the semiconductor, the

photons are absorbed by the semiconductor lattice and some of their energy is transferred

to the electrons. This gives some of them sufficient energy to break free from the crystal

lattice so that they can then conduct electricity. This results in a lowering of the resistance

of the semiconductor and hence the overall LDR resistance.The process is progressive,

and as more light shines on the LDR semiconductor, so more electrons are released to

conduct electricity and the resistance falls further. Light Dependent Resistor Circuits.

The 10K variable resistor is used to fine tune the level of darkness required before the

LED lights up. The 10K standard resistor can be changed as required to achieve the

desired effect, although any replacement must be aleast 1K to protect the transistor from

being damaged by excessive current.

NIGHT VISION CIRCUIT:

The robot equipped with a wireless camera, which is not very useful in situations where

the visibility or light level is very low. For night or dark area, Spy robot will be almost

impossible for identifying objects because the lights, which are provided on the robot, are

fixed therefore it may not be possible to view those objects which are in the dark. At

night or dark area where light is low a lighting circuit can be mounted on the robot

instead of a night vision camera, which will increase the visibility in case of no light at

all. Lighting circuit is shown in figure 4.5 used in this project to use the Spy robot in the

dark area as night. For night vision in figure 4.6, three LED is set up on the top of the

CCD camera that connected by lighting circuit. Lighting circuit need +12V power supply.


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Figure2.7.2:Night vision circuit

Photo resistor specifications

Color: Blue

- Material: PCB

- Input voltage: 3~6V

- Sense brightness and light intensity surroundings

- When detect the light dark, LED light on and the output terminal is low

- With installation holes, easy to use

- Great for Arduino DIY projectDimensions: 1.22 in x 0.59 in x 0.47 in

(3.1cm x 1.5 cm x 1.2 cm)Weight: 0.18 oz (5 g)

Figure2.7.3 night vision board(LDR


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CHAPTER 3

HARDWARE CONFIGURATION

3.1 CIRCUIT DIAGRAM

Figure: 3.1 ROBOT CIRCUIT DIAGRAM


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Here it is simulation purpose we are using proteous software.we are taking in crystal

oscillator and also mother board consists of 4 LED’S for comparing output generated in

the microcontroller[motor drivers].Here two oscillator like OSC-1,OSC-2 connected to

the port-B[port-6&port-7].In this microcontroller Port-B[PB0-PB7] acts as input for the

motor drivers and port-D[PD4-PD7] are acts as the motor drivers.We are not using port-

E.motor driver using L293D.in this driver for inputs are[2,7,10,15] and outputs

are[3,6,11,14].


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APPLICATION:

Fig3.1.1:Usage of system based on application


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The main parts of this robot are Smart phone,Microcontroller,Motor drivers and motors.operation of this robot can be done in two different modes depending on the ranges and area where the robot is going to be used.

1.Remote area

2.Nearest area

Remote area:-

For operating the robot in far away distances along with video transmission we have two ways to operate .One of the method is by using skype software or by using Gmail/Yahoo call and directly making mobile phone call.Direct mobile call can also be used in two different ways by calling via internet through an app or by directly calling using mobile network.in case of in accesbility of internet this direct calling using mobile network can be used .

Nearest area:-

In case of nereasest range operations we have two methods by having Serial direct connection (wired connection).

And another one by using wireless connection in wireless mode we genarate an virtual server by using connectifysoftware and an mobile app called Ip web cam which is used to generate IP address to connect with the virtual server for video transmission we can observe all the video data capturing by robot on the browser .If required we can also save images and recording of video is also available.

We can also control robot by using another Android app DTMF tranceiver which is installed in both the operater mobile phone and also on the android phone available on the robot .This is done by transmittting longitudional sound waves through operator mobile phone where for every specific operation different sounds are generated which is detected by another mobile phone available at the robot which sends the information to the decoder which is then transmitted to the micro controller where the specific given operation is carried out.


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CHAPTER 4

SOFTWARE REQUIREMENTS

4.1Atmel Studio 6.2

Welcome to AVR Studio from Atmel Corporation. AVR Studio is a Development Tool

for the Series of AVR microcontrollers. This manual describes the how to install and use

AVR Studio .AVR Studio enables the user to fully control execution of programs on the

In-Circuit Emulator or on the built-in AVR Instruction Set Simulator. AVR Studio

supports source level execution of Assembly programs assembled with the Atmel

Corporation's AVR Assembler and C programs compiled with IAR Systems’ C Compiler

for the AVR microcontrollers. AVR Studio runs under Microsoft Windows95 and

Microsoft Windows NT.

This section gives a brief description of the main features of AVR Studio. AVR Studio

enables execution of AVR programs on an AVR In-Circuit Emulator or the built-in AVR

Instruction Set Simulator. In order to execute a program using AVR Studio, it must first

be compiled with IAR Systems' C Compiler or assembled with Atmel's AVR Assembler

to generate an object file which can be read by AVR Studio.


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Figure4.1.1:program excuting AVR studio


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An example of what AVR Studio may look like during execution of a program is shown

below.In addition to the Source window, AVR Studio defines a number of other windows

which can be used for inspecting the different resources on the microcontroller.The key

window in AVR Studio is the Source window. When an object file is opened, the

Source window is automatically created. The Source window displays the code currently

being executed on the execution target (i.e. the Emulator or the Simulator), and the text

marker is always placed on the next statement to be executed. The Status bar indicates

whether the execution target is the AVR In-Circuit Emulator or the built-in Instruction

Set Simulator By default, it is assumed that execution is done on source level, so if source

information exists, the program will start up in source level mode. In addition to source

level execution of both C and Assembly programs, AVR Studio can also view and

execute programs on a disassembly level. The user can toggle between source and

disassembly mode when execution of the program is stopped. All necessary execution

commands are available in AVR Studio, both on source level and on disassembly level.

The user can execute the program, single step through the code either by tracing into or

stepping over functions, step out of functions, place the cursor on a statement and execute

until that statement is reached, stop the execution, and reset the execution target. In

addition, the user can have an unlimited number of code breakpoints, and every

breakpoint can be defined as enabled or disabled. The breakpoints are remembered

between sessions. The Source window gives information about the control flow of the

program. In addition, AVR Studio offers a number of other windows which enables the

user to have full control of the status of every element in the execution target. The

available windows are:

1. Watch window: Displays the values of defined symbols. In the Watch window,

the user can watch the values of for instance variables in a C program.

2. Register window: Displays the contents of the register file. The registers can

be modified when the execution is stopped.

3. Memory windows: Displays the contents of the Program Memory, Data Memory,I/O

Memory or EEPROM Memory. The memories can be viewed as hexadecimal values or


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as ASCII characters. The memory contents can be modified when the execution is

stopped.

.4. Peripheral windows: Displays the contents of the status registers associated

with the different peripheral devices:

• EEPROM Registers

• I/O Ports

• Timers

• etc.

5. Message window: Displays messages from AVR Studio to the user

6. Processor window: Displays vital information about the execution target, including

Program Counter, Stack Pointer, Status Register and Cycle Counter. These parameters

can be modified when the execution is stopped.

The first time an object file is being executed, the user needs to set up the windows which

are convenient for observing the execution of the program, thereby tailoring the

information on the screen to the specific project. The next time that object file is loaded,

the setup is automatically reconstructed.


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4.2 PROTEUS 8.0

Figure4.2:proteus8.0


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Proteus 8.0 represents over three years continuous development and includes

improvements to every area of the software suite. Major work on the application

framework together with the introduction of a common database provides a much

smoother workflow for users while the rich new feature set saves time and effort in the

design lifecycle. A demonstration version can be downloaded directly from the Lab

center website and you can then either watch getting started movies from the application

home page or access the tutorial documentation for evaluation.

The main theme of the Proteus 8 release is integration .Development has therefore been

focused on taking the various discrete parts of an electronic design and coupling them

together to achieve a better workflow. In order to achieve this, three major architectural

changes were necessary; a unified application framework, a common database and a live

net list.

4.2.1 Common Database & Live Netlisting

The common database and live netlisting features provide system wide access to the

properties of the parts and the connectivity between them. Features like pinswap,

gateswap and annotation are both automatic and bi-directional between schematic and

PCB and connectivity changes on the schematic can be automatically reflected in any

other module (BOM,Design Explorer, ARES). These features also lay the foundation for

a number of development projects such as design snippets which we plan to bring forth

during the lifetime of Proteus 8.0.Proteus 8.0stores the design (DSN), layout (LYT) and

common database in a single project file (PDSPRJ).


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4.3 HID BOOT FLASHBoot loader is a small program put into a device that allows user application codes to be

programmed to the device. USB boot loaders using the human interface device (HID)

class were built for Freescale 32-bit ColdFire Plus and the Kinetis K and L series MCU

families. Using the USB HID class provides the advantages of small boot loader code

size and the use of standard USB HID drivers provided by all common operating

systems.

Figure4.3:HIDBootFlash V.1.0

The USB HID boot loader provides an easy and reliable way to load user application

codes to devices. Boot loader firmware, user application demo firmware and PC software

were built to demonstrate how USB HID boot loader systems can be implemented using

ColdFire Plus and Kinetis MCUs. The 4 KB boot loader, complying with the USB HID

class, receives commands and data from the PC to program and erase the flash memory

of the MCUs. The application demos show how user programs can be programmed and

re-programmed into the MCUs by the boot loader through the PC software running


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on Windows XP or Windows 7 operating system. The boot loader code and application

demos were tested.

under the Development Kits of the following platforms:

• TWR-MCF51JF ColdFire Plus Tower CPU board

• TWR-K40X256-KIT Kinetis K Tower Kit

• TWR-K60N512-KIT Kinetis K Tower Kit

• TWR-KL25Z48M Kinetis L Tower CPU board

• FRDM-KL25Z Freedom development platform

The memory maps of the boot loader system are shown in the following table.

Table 2. Boot loader memory map

The default interrupt and exception vector table is put into the starting address of the

flash area and is used by the boot loader, which should remain unaltered. The application

interrupt and exception vector table is stored in the flash areas beginning at 0x1000 or at

the first unprotected flash area. The interrupt and exception vector table can be redirected


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to the RAM area by storing the user application interrupt and exception vector table into

the application flash area and copying it to the RAM memory in the application Start up

routines. The boot loader erases the application flash, parses the user application data,

and programs it to the flash memory of the user application area, which is the free flash

memory after the boot loader is loaded into the flash. The boot loader flash area has to be

protected and may occupy more memory than its actual size. The code size of the boot

loader is 4 KB. If the flash protection block size of a device is larger than 4 KB, the boot

loader flash area occupies the same size of the flash protecting block. For MCF51JF128,

PKL25Z128/MKL25Z128, MK40X256 and MK60N512, the boot loader area occupies 4

KB, 8 KB and 16 KB of flash when it is protected. The user application can use the

whole RAM memory regardless the size of RAM the boot loader uses.

4.4 Connectifier hot spot generator

It can enable a Windows PC to serve as a router over Ethernet or Wi-Fi. Along with a

Windows 7 or 8 certified Wi-Fi device it can act as a wireless access point. This

enables users to share files, printers, and Internet connections between multiple

computing devices without the need for a separate physical access point or router. Well-

regarded by the press, Connectify spent the next two years improving the product, first

making it free and ad-supported. In 2011, Connectify decided to offer a PRO version of

the software which included premium features for paying customers. These features

included extended support of 3G/4G mobile devices, fully customizable SSIDs and

premium customer support.

Also in 2011, Connectify received founding from In-Q-Tel to begin developing a more

powerful and secure remote networking platform and a connection-aggregation

application. Connectify used this funding to develop the foundation of the application,

and then in 2012 turned to the crowd founding site Kickstarter to raise additional funding

to develop Connectify Dispatch. Dispatch is a Load Balancer which can combine any

number of Ethernet, Wi-Fi or mobile Internet connections. Latest Version : 7.3.4.3052.


http://en.wikipedia.org/wiki/Mobile_Internet

http://en.wikipedia.org/wiki/Wi-Fi

http://en.wikipedia.org/wiki/Ethernet

http://en.wikipedia.org/wiki/Load_Balancer

http://en.wikipedia.org/wiki/Kickstarter

http://en.wikipedia.org/wiki/Crowdfunding

http://en.wikipedia.org/wiki/In-Q-Tel

http://en.wikipedia.org/wiki/SSID

http://en.wikipedia.org/wiki/4G

http://en.wikipedia.org/wiki/3G

http://en.wikipedia.org/wiki/User_(computing)

http://en.wikipedia.org/wiki/Wireless_access_point

http://en.wikipedia.org/wiki/Wi-Fi

http://en.wikipedia.org/wiki/Ethernet

http://en.wikipedia.org/wiki/Router_(computing)

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Figure4.4.1:Hotspot Offline

Figure4.4.2:Hotspot stopped


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CHAPTER 5

Mobile Apps5.1MOBILE

BODY Dimensions 137 x 69 x 9.9 mm (5.39 x 2.72 x 0.39 in)

Weight 158 g (5.57 oz)

SIM Dual SIM (Mini-SIM, dual stand-by)

DISPLAY Type IPS LCD capacitive touchscreen, 16M colors

Size 4.7 inches (~64.4% screen-to-body ratio)

Resolution 720 x 1280 pixels (~312 ppi pixel density)

Multitouch Yes

Protection AGC Dragontrail glass

- MIUI 5.0

PLATFORM

OS Android OS, v4.3 (Jelly Bean)

Chipset Qualcomm MSM8228 Snapdragon 400

CPU Quad-core 1.6 GHz Cortex-A7

GPU Adreno 305

MEMORY Card slot microSD, up to 32 GB

Internal 8 GB, 1 GB RAM

CAMERA Primary 8 MP, 3264 x 2448 pixels, autofocus, LED flash, check quality

Features 1.4 µm pixel size, geo-tagging, touch focus, face/smile detection, HDR

Video 1080p@30fps, check quality

Secondary 1.6 MP, 720p@30fps


http://www.gsmarena.com/glossary.php3?term=video-call

http://www.gsmarena.com/vidcmp.php3?idType=1&idPhone1=6373&nSuggest=1

http://www.gsmarena.com/glossary.php3?term=camera


http://www.gsmarena.com/piccmp.php3?idType=1&idPhone1=6373&nSuggest=1


http://www.gsmarena.com/glossary.php3?term=dynamic-memory

http://www.gsmarena.com/glossary.php3?term=memory-card-slot

http://www.gsmarena.com/glossary.php3?term=gpu

http://www.gsmarena.com/glossary.php3?term=cpu

http://www.gsmarena.com/glossary.php3?term=chipset

http://www.gsmarena.com/glossary.php3?term=os

http://www.gsmarena.com/glossary.php3?term=screen-protection

http://www.gsmarena.com/glossary.php3?term=multitouch

http://www.gsmarena.com/xiaomi_redmi_1s-6373.php


http://www.gsmarena.com/glossary.php3?term=display-type

http://www.gsmarena.com/glossary.php3?term=sim



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SOUND

Alert types Vibration; MP3, WAV ringtones

Loudspeaker Yes

3.5mm jack Yes

COMMS WLAN Wi-Fi 802.11 b/g/n, Wi-Fi Direct, hotspot

Bluetooth v4.0, A2DP, LE

GPS Yes, with A-GPS, GLONASS

Radio FM radio

USB microUSB v2.0, USB Host

FEATURES Sensors Accelerometer, gyro, proximity, compass

Messaging SMS(threaded view), MMS, Email, Push Mail, IM

Browser HTML5

Java Yes, via Java MIDP emulator

- Active noise cancellation with dedicated mic- MP4/H.264 player- MP3/WAV/eAAC+/FLAC player- Photo/video editor- Document viewer - Voice memo/dial/commands

BATTERY Li-Ion 2000 mAh battery

Stand-by

Talk time

MISC Colors Black, Chinese Red, Metallic Gray/ blue, green, yellow panels

Price group

TESTS Performance Basemark OS II: 394 / Basemark OS II 2.0: 454

Display Contrast ratio: 1370 (nominal), 1.350 (sunlight)

Camera Photo / Video

Loudspeaker Voice 66dB / Noise 65dB / Ring 71dB


http://www.gsmarena.com/xiaomi_redmi_1s-review-1138p6.php

http://www.gsmarena.com/gsmarena_lab_tests-review-751p3.php

http://www.gsmarena.com/vidcmp.php3?idType=1&idPhone1=6373&nSuggest=1

http://www.gsmarena.com/piccmp.php3?idType=1&idPhone1=6373&nSuggest=1




http://www.gsmarena.com/benchmark-test.php3?idPhone=6373#show

http://www.gsmarena.com/glossary.php3?term=benchmarking



http://www.gsmarena.com/glossary.php3?term=talk-time

http://www.gsmarena.com/glossary.php3?term=stand-by-time

http://www.gsmarena.com/glossary.php3?term=java

http://www.gsmarena.com/glossary.php3?term=browser

http://www.gsmarena.com/glossary.php3?term=messaging

http://www.gsmarena.com/glossary.php3?term=sensors

http://www.gsmarena.com/glossary.php3?term=usb

http://www.gsmarena.com/glossary.php3?term=fm-radio

http://www.gsmarena.com/glossary.php3?term=gps

http://www.gsmarena.com/glossary.php3?term=bluetooth

http://www.gsmarena.com/glossary.php3?term=wi-fi

http://www.gsmarena.com/glossary.php3?term=audio-jack

http://www.gsmarena.com/glossary.php3?term=loudspeaker

http://www.gsmarena.com/glossary.php3?term=call-alerts

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Audio quality

Noise -95.4dB / Crosstalk -82.3dB

Battery life Endurance rating 51h

Figure5.1.MOBILE

5.2 Ip web cam







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IP Webcam turns your phone into a network camera with multiple viewing options. View

your camera on any platform with VLC player or web browser. Stream video inside WiFi

network without internet access.

Optional Ivideon cloud streaming is supported for instant global access.

Two-way audio supported in tinyCam Monitor on another android device.

Use IP Webcam with third-party MJPG software, including video surveillance software,

security monitors and most audio players.

Features include:

• Several web renderers to choose from: Flash, Javascript or built-in

• Video recording in WebM, MOV or MPEG4 (on Android 4.1+)

• Audio streaming in wav, opus and AAC (AAC requires Android 4.1+)

• Motion detection with sound trigger, Tasker integration.

• Date, time and battery level video overlay.

• Sensor data acquisition with online web graphing.

• Videochat support (video stream only for Windows and Linux via an universal MJPEG

video streaming driver)

• Cloud push notifications on motion and sound, cloud recording for motion-triggered

records, powered by Ivideon.


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FIG 6.2.IP WEB CAM

.

6.3 SkypeSkype is a computer program that allows you to make free video and voice calls to

anyone in the world using the Skype network. Some features of Skype include free

Skype-to-Skype calls, free video calls, conference calls, instant messaging, SMS

messaging and the ability to forward all calls to your mobile phone when you're offline.

Skype uses VOIP - voice over internet protocol - to to convert voice signals into data

streams. VOIP also allows for video conferencing. Using Skype is easy - all you have to

do is download the software, create an account and screen name, and start Skyping other

users. You can use either the audio portion of Skype, or you can use the video feature

with an installed web cam. Please note that the video communication feature operates


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better with a cable modem than with a dial-up or wireless connection. If you use Outlook,

Skype can integrate your Outlook contacts and be integrated within your browser. It has

an IM client and you can even use third party software like “Call Recorder”

or“Pamela,” to record your conversation in mp3 format. Skype also allows you to send

files. Through videoconferencing, students participate more in their own learning, hence

they are more invested. You can use Skype in your classroom to conduct interviews or

tutoring, to connect with students in different countries or peer faculty, to collaborate on

group projects, and to attend remote lectures.

1. Go to the Skype website http://www.skype.com and download the Skype application.

Note: You will have to download the software onto your computer and will only be able

to use a computer with Skype installed.

2. Once you have downloaded Skype, double-click on the executable file to install Skype

onto your PC.

3. You'll be asked whether you want to save or run the file. Choose to run it.

4. Create a username and password. This will allow you to login to the Skype network.

5. Search for your friends and family on Skype by clicking on the "Add" button.

Note: You can search via their Skype name, full name, email address or by MySpaceIM

name. Friends that are online appear at the top of the list with a green icon.

6.3.1 How To Call Someone On Video1. Make sure you've got a webcam and check:

a. it's plugged into your computer

b. you've installed the software that came with it

c. it's switched on

2. In your Contact list, find the person you want to talk to. Click on them.

3. In the main window, click the green Video call button.


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Figure6.3.1:video call

Allow enough set-up time.

Ensure that Skype is using the correct microphone / webcam - be it internal or external.

Test the connection ahead of time.

Be aware of potential distractions: cell phones, walk-bys, picture-in-picture display.

CHAPTER 7

CODING

#include <avr/io.h>#define F_CPU 12000000#include <util/delay.h>int main(void){

DDRB=0b00001111;DDRC=0b00000000;

while(1)


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{ if (PINC == 0b00000010 ) {

PORTB = 0b00001010;//turn straight} else if(PINC == 0b00001000){

PORTB=0b00000101;}else if (PINC == 0b00000100){

PORTB=0b00000110;}else if (PINC == 0b00000110){

PORTB=0b00001001;}

else if (PINC == 0b00000101){

PORTB=0b00000000;}

else{

PORTB=0x00;}}

}

ASSEMBLY PROGRAM

--- No source file -------------------------------------------------------------00000000 RJMP PC+0x0013 Relative jump 00000001 RJMP PC+0x001A Relative jump 00000002 RJMP PC+0x0019 Relative jump 00000003 RJMP PC+0x0018 Relative jump 00000004 RJMP PC+0x0017 Relative jump 00000005 RJMP PC+0x0016 Relative jump 00000006 RJMP PC+0x0015 Relative jump 00000007 RJMP PC+0x0014 Relative jump 00000008 RJMP PC+0x0013 Relative jump


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00000009 RJMP PC+0x0012 Relative jump 0000000A RJMP PC+0x0011 Relative jump 0000000B RJMP PC+0x0010 Relative jump 0000000C RJMP PC+0x000F Relative jump 0000000D RJMP PC+0x000E Relative jump 0000000E RJMP PC+0x000D Relative jump 0000000F RJMP PC+0x000C Relative jump 00000010 RJMP PC+0x000B Relative jump 00000011 RJMP PC+0x000A Relative jump 00000012 RJMP PC+0x0009 Relative jump 00000013 CLR R1 Clear Register 00000014 OUT 0x3F,R1 Out to I/O location 00000015 LDI R28,0x5F Load immediate 00000016 LDI R29,0x04 Load immediate 00000017 OUT 0x3E,R29 Out to I/O location 00000018 OUT 0x3D,R28 Out to I/O location 00000019 RCALL PC+0x0003 Relative call subroutine 0000001A RJMP PC+0x0024 Relative jump 0000001B RJMP PC-0x001B Relative jump --- C:\Users\lenovo pc\Documents\Atmel Studio\6.2\project1\project1\Debug/.././project1.c {

DDRB=0b00000000;0000001C OUT 0x17,R1 Out to I/O location

DDRD=0b11110000;0000001D LDI R24,0xF0 Load immediate --- C:\Users\lenovo pc\Documents\Atmel Studio\6.2\project1\project1\Debug/.././project1.c 0000001E OUT 0x11,R24 Out to I/O location

PORTD=0b10010000;0000001F LDI R20,0x90 Load immediate

PORTD=0b01100000;00000020 LDI R19,0x60 Load immediate

PORTD=0b01010000;00000021 LDI R18,0x50 Load immediate

PORTD = 0b10100000;//turn straight00000022 LDI R25,0xA0 Load immediate

if (PINB == 0b00000010 )00000023 IN R24,0x16 In from I/O location 00000024 CPI R24,0x02 Compare with immediate 00000025 BRNE PC+0x03 Branch if not equal

PORTD = 0b10100000;//turn straight00000026 OUT 0x12,R25 Out to I/O location 00000027 RJMP PC-0x0004 Relative jump


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else if(PINB == 0b00001000)00000028 IN R24,0x16 In from I/O location 00000029 CPI R24,0x08 Compare with immediate 0000002A BRNE PC+0x03 Branch if not equal

PORTD=0b01010000;0000002B OUT 0x12,R18 Out to I/O location 0000002C RJMP PC-0x0009 Relative jump

else if (PINB == 0b00000100)0000002D IN R24,0x16 In from I/O location 0000002E CPI R24,0x04 Compare with immediate 0000002F BRNE PC+0x03 Branch if not equal

PORTD=0b01100000;00000030 OUT 0x12,R19 Out to I/O location 00000031 RJMP PC-0x000E Relative jump

else if (PINB == 0b00000110)00000032 IN R24,0x16 In from I/O location 00000033 CPI R24,0x06 Compare with immediate 00000034 BRNE PC+0x03 Branch if not equal

PORTD=0b10010000;00000035 OUT 0x12,R20 Out to I/O location 00000036 RJMP PC-0x0013 Relative jump

else if (PINB == 0b00000101)00000037 IN R24,0x16 In from I/O location 00000038 CPI R24,0x05 Compare with immediate 00000039 BRNE PC+0x03 Branch if not equal

PORTD=0b00000000;0000003A OUT 0x12,R1 Out to I/O location 0000003B RJMP PC-0x0018 Relative jump --- C:\Users\lenovo pc\Documents\Atmel Studio\6.2\project1\project1\Debug/.././project1.c

PORTD=0x00;0000003C OUT 0x12,R1 Out to I/O location 0000003D RJMP PC-0x001A Relative jump --- No source file -------------------------------------------------------------0000003E CLI Global Interrupt Disable 0000003F RJMP PC-0x0000 Relative jump 00000040 NOP Undefined

PROGRAM FLASH


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prog 0x0000 12 c0 19 c0 18 c0 17 c0 16 c0 15 c0 14 c0 13 c0 12 c0 11 .À.À.À.À.À.À.À.À.À.prog 0x0013 c0 10 c0 0f c0 0e c0 0d c0 0c c0 0b c0 0a c0 09 c0 08 c0 À.À.À.À.À.À.À.À.À.Àprog 0x0026 11 24 1f be cf e5 d4 e0 de bf cd bf 02 d0 23 c0 e4 cf 17 .$..ÏåÔàÞ¿Í¿.Ð#ÀäÏ.prog 0x0039 ba 80 ef 81 bb 40 e9 30 e6 20 e5 90 ea 86 b3 82 30 11 f4 º€ï.»@é0æ å.ê...0.ôprog 0x004C 92 bb fb cf 86 b3 88 30 11 f4 22 bb f6 cf 86 b3 84 30 11 ’»ûÏ..ˆ0.ô"»öÏ...0.prog 0x005F f4 32 bb f1 cf 86 b3 86 30 11 f4 42 bb ec cf 86 b3 85 30 ô2»ñÏ...0.ôB»ìÏ...0prog 0x0072 11 f4 12 ba e7 cf 12 ba e5 cf f8 94 ff cf ff ff ff ff ff .ô.ºçÏ.ºåÏø”ÿÏÿÿÿÿÿ

CHAPTER 8

CONCLUSION

This type of robot can perform difficult and repetitive works for humans. It can have a

very risky job and such dangerous job could be done by using small spy robot. But it is

useful to check and look out the places where dangerous poison gases have. Spy robot

can also be used in searching people who are in building destroyed by the earthquake.

Because of the wireless camera is installed in spy robots, it can be used remotely to enter

and exit dangerous place that human cannot. When the user controls by remote controller,

the robot will move to desired destination and spy images around the robot. The user can


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check and recommend from computer with the wireless remote controller. Lightening

LED is mounted on robot and has a stand which is a place for rescuing device. The robot

is not quite huge one and designed to be easy in transportation. For the whole system, the

required power is supplied by Lead acid batteries which connected the voltage regulator.

CHAPTER 9 REFERENCES

[1]www.newhackbie.com

[2]www.googleplay.com

[3]www.ebay.com

[4]www.technophiliasystems.com

[5]www.atmel.com

[6]www.proteus.com


http://www.proteus.com/

http://www.atmel.com/

http://www.technophiliasystems.com/

http://www.ebay.com/

http://www.googleplay.com/

http://www.newhackbie.com/

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