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Transcript of Unmanned Wireless Vehice
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CCONTENTONTENT
SSRR. N. NOO.. TTOPICSOPICS PPAGEAGE NNOO..
1.1. AACKNOWLEDGEMENTCKNOWLEDGEMENT 33
2.2. WWIRELESSIRELESS TTECHNOLOGYECHNOLOGY 66
3.3. IINTRODUCTIONNTRODUCTION 1010
4.4. AABOUTBOUT VB.NETVB.NET 1212
5.5. PPROJECTROJECT OOVERVIEWVERVIEW 3434
6.6. TTRANSMITTERRANSMITTER 3838
7.7. RRECEIVERECEIVER 4444
8.8. DDRIVERRIVERCCIRCUITIRCUITOFOFMOTORMOTOR 4949
9.9. IINFRANFRA RREDED RRECEIVERECEIVER 5656
10.10. MMECHANICALLYECHANICALLY AASSEMBLYSSEMBLY 5959
11.11. CCOMPONENTOMPONENT LLISTIST 6464
12.12. PCBPCB LAYOUTLAYOUT 6666
13.13. RF MRF MODULEODULE 6868
14.14. 4 D4 DIRECTIONIRECTION TTILTILT SSENSORENSOR 7171
15.15. SSOURCEOURCE CCODEODE 7474
16.16. AADVANTAGESDVANTAGESANDAND AAPPLICATIONSPPLICATIONS8686
17.17. BBIBLIOGRAPHYIBLIOGRAPHY 8989
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AACKNOWLEDGEMENTCKNOWLEDGEMENT
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AACKNOWLEDGEMENTCKNOWLEDGEMENT
Ideas, they say often remain ideas. Very few of them,
if find support are turned into actual working models. And
the rest of them are just forgotten and remain what they
started off as ideas.
This idea as well would have remained an idea but for
one person Prof. Manoj S. Kavedia, the real debt of
gratitude that we owe to him without whom this project
would not have seen light of day. Selflessly, he looked after
all our hardware, software and system requirements and if
that was not enough, he is also responsible for rendering
most of the illustrations of this project
A project of this type requires lots of input from
people and we have been fortunate enough to have all the
support we needed.
Inspite of being the principle of the institute Mr.
A.B.Patiland having an immensely busy work schedule in
the college, we never found any of our requests of help and
guidance to him being turned down. Nor did he show even
the slightest bit of impatience about us pestering him so
much and so often. We shall indeed remain ever grateful to
this great personal.
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Thanks to ubiquitous but eminent Prof.Manoj S.
Kavedia for seeing to it that we stayed on course by
constantly providing us with feedback and his own advice
that helped us to this project more efficiently. His razor
sharp analysis of what this project should contain and how
the material needed to be organized remains a classic
piece of work by itself.
We convey out sincere thanks to Vice principle
Prof.D.V.Chawakwho has been a real help to us through
his activities as liaison and the special interest he has
taken in this project, his sophisticated teaching and making
sure that the project has been completed before deadlines
were met.
We express out gratitude to the LAB assistants of the
Information Technology Department for staying back late
and keeping the labs operational for us while we kept
pounding the keyboards. We thank all those people who
helped us in any way what so ever at some point of time.
Last but definitely not the least we express thanks to
our parents for their harmonious support for ensuring the
smooth passage of this ambitious project.
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WWIRELESSIRELESS
TTECHNOLOGYECHNOLOGY
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Wireless communication may be via:
Radio frequency communication,
Microwave communication, for example long-range
line-of-sight via highly directional antennas, or short-
range communication, or
Infrared (IR) short-range communication, forexample from remote controls or via IRDA,
Applications may involve point-to-point communication,
point-to-multipoint communication, broadcasting , cellular
networks and other wireless networks.
The term "wireless" should not be confused with theterm "cordless", which is generally used to refer to
powered electrical or electronic devices that are able to
operate from a portable power source (e.g., a battery pack)
without any cable or cord to limit the mobility of the
cordless device through a connection to the mains power
supply. Some cordless devices, such as cordlesstelephones, are also wireless in the sense that information
is transferred from the cordless telephone to the
telephone's base unit via some type of wireless
communications link. This has caused some disparity in the
usage of the term "cordless", for example in Digital
Enhanced Cordless Telecommunications.
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In the last 50 years, wireless communications industry
experienced drastic changes driven by many technology
innovations.
The term "wireless" came into public use to refer to a
radio receiver or transceiver (a dual purpose receiver and
transmitter device), establishing its usage in the field of
wireless telegraphy early on; now the term is used to
describe modern wireless connections such as in cellular
networks and wireless broadband Internet. It is also used in
a general sense to refer to any type of operation that is
implemented without the use of wires, such as "wireless
remote control", "wireless energy transfer", etc. regardless
of the specific technology (e.g., radio, infrared, ultrasonic,
etc.) that is used to accomplish the operation
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IINTRODUCTIONNTRODUCTION
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IINTRODUCTIONNTRODUCTION
Robotics is a fascinating subject more so, if you have
to fabricate a robot yourself. The field of robotics
encompasses a mini her of engineering disciplines such as
electronics (including electrical), structural, pneumatics
and mechanical.
The structural part involves use of frames, beams,
linkages, axles, etc. The mechanical parts/accessories
comprise various types of gears (spurs, crowns, bevels,
worms and differential gear systems), pulleys and belts,
drive systems (differentials, castors, wheels and steering),
etc. Pneumatics plays a vital role in generating specific
pushing and pulling movements such as those simulating
arms or leg movements. Pneumatic grippers are also used
with advantage in robotics because of their simplicity and
cost-effectiveness. The electrical items include DC and step
per motors, actuators, electrical grips, clutches and their
control. The electronics part involves remote control,
sensors (touch sensor, light sensor, collision sensor, etc),
their interface circuitry and a microcontroller for over all
control function.
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AABOUTBOUT
.NET.NET
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AABOUTBOUT DOTNETDOTNET
.NET DefinedBefore getting deeply into the subject we will first
know how Businesses are related to Internet, what .NET
means to them and what exactly .NET is built upon. As per
the product documentation from a Business perspective,
there are three phases of the Internet. The First phase gets
back to the early 1990's when Internet first came into
general use and which brought a big revolution for
Businesses. In the First phase of the Internet Businesses
designed and launched their Website's and focused on the
number of hits to know how many customers were visiting
their site and interested in their products, etc. The Second
phase is what we are in right now and in this phase
Businesses are generating revenue through Online
Transactions. We are now moving into the Third phase of
the Internet where profit is the main priority. The focus
here is to Businesses effectively communicate with their
customers and partners who are geographically isolated,
participate in Digital Economy and deliver a wide range of
services. How can that be possible? The answer, with .NET.
What is .NET ?
Many people reckon that it's Microsoft's way of
controlling the Internet, which is false. .NET is Microsoft's
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strategy of software that provides services to people any
time, any place, on any device. An accurate definition of
.NET is, it's an XML Web Services platform which allows us
to build rich .NET applications, which allows users to
interact with the Internet using wide range of smart
devices (tablet devices, pocket PC's, web phones etc),
which allows to build and integrate Web Services and
which comes with many rich set of tools like Visual Studio
to fully develop and build those applications.
What is .NET Built On?
.NET is built on the Windows Server System to take
major advantage of the OS and which comes with a host of
different servers which allows for building, deploying,
managing and maintaining Web-based solutions. The
Windows Server System is designed with performance aspriority and it provides scalability, reliability, and
manageability for the global, Web-enabled enterprise. The
Windows Server System integrated software products are
built for interoperability using open Web standards such as
XML and SOAP.
Core Windows Server System Products include
SQL Server2000
This Database Server is Web enabled and is designed
with priority for .NET based applications. It is scalable, easy
to manage and has a native XML store.
Application Center 2000
This product is designed to manage Web Applications.
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Commerce Server 2000
This powerful Server is designed for creating E-
Commerce based applications.
Mobile Information Server
This Server provides real-time access for the mobile
community. Now Outlook users can use their Pocket PC's to
access all their Outlook data while they are moving.
Exchange Server 2000This is a messaging system Server and allows
applications on any device to access information and
collaborate using XML.
BizTalk Server 2000
This is the first product created for .NET which is XML
based and allows to build business process that integrate
with other services in the organization or with other
Businesses.
Internet Security and Acceleration Server 2000
This Server provides Security and Protection for
machines. It is an integrated firewall and Web cache server
built to make the Web-enabled enterprise safer, faster, and
more manageable.
Host Integration Server 2000: This Server allows for the
Integration of mainframe systems with .NET.
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When developing real world projects if you
don't know how to use the above mentioned
Server's which are built for .NET based applications
do not worry. Your System Administrator is always
there to help you.
.NET vs Java
Many of us wonder what .NET has to do with Java. Is
there any relation between them? Are they similar? and so
on. I even hear some people say .NET is Microsoft's answer
to Java. I think every language has its own pros and cons.
Java is one of the greatest programming languages created
by humans. Java doesn't have a visual interface
and requires us to write heaps of code to develop
applications. On the other hand, with .NET, the Framework
supports around 20 different programming languageswhich are better and focus only on business logic leaving
all other aspects to the Framework. Visual Studio
.NET comes with a rich visual interface and supports drag
and drop. Many applications were developed, tested and
maintained to compare the differences between .NET and
Java and the end result was a particular applicationdeveloped using .NET requires less lines of code, less time
to develop and lower deployment costs along with other
important issues. Personally, I don't mean to say that Java
is gone or .NET based applications are going to dominate
the Internet but I think .NET definitely has an extra edge as
it is packed with features that simplify applicationdevelopment.
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.NET Framework
.NET is a "Software Platform". It is a language-neutral
environment for developing rich .NET experiences and
building applications that can easily and securely operate
within it. When developed applications are deployed, those
applications will target .NET and will execute wherever
.NET is implemented instead of targeting a particular
Hardware/OS combination. The components that make up
the .NET platform are collectively called the .NET
Framework.
The .NET Framework is a managed, type-safe
environment for developing and executing applications.
The .NET Framework manages all aspects of program
execution, like, allocation of memory for the storage of
data and instructions, granting and denying permissions to
the application, managing execution of the application and
reallocation of memory for resources that are not needed.
The .NET Framework is designed for cross-language
compatibility. Cross-language compatibility means, an
application written in Visual Basic .NET may reference a
DLL file written in C# (C-Sharp). A Visual Basic .NET classmight be derived from a C# class or vice versa.
The .NET Framework consists of two main
components:
Common Language Runtime (CLR)
Class Libraries
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Common Language Runtime (CLR)
The CLR is described as the "execution engine" of
.NET. It provides the environment within which the
programs run. It's this CLR that manages the execution of
programs and provides core services, such as code
compilation, memory allocation, thread management, and
garbage collection. Through the Common Type System
(CTS), it enforces strict type safety, and it ensures that the
code is executed in a safe environment by enforcing code
access security. The software version of .NET is actually
the CLR version.
Working of the CLR
When the .NET program is compiled, the output of the
compiler is not an executable file but a file that contains a
special type of code called the Microsoft Intermediate
Language (MSIL), which is a low-level set of instructions
understood by the common language run time. This MSIL
defines a set of portable instructions that are independent
of any specific CPU. It's the job of the CLR to translate this
Intermediate code into a executable code when the
program is executed making the program to run in anyenvironment for which the CLR is implemented. And that's
how the .NET Framework achieves Portability. This MSIL is
turned into executable code using a JIT (Just In Time)
complier. The process goes like this, when .NET programs
are executed, the CLR activates the JIT complier. The JIT
complier converts MSIL into native code on a demand basisas each part of the program is needed. Thus the program
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executes as a native code even though it is compiled into
MSIL making the program to run as fast as it would if it is
compiled to native code but achieves the portability
benefits of MSIL.
Class Libraries
Class library is the second major entity of the .NET
Framework which is designed to integrate with the
common language runtime. This library gives the program
access to runtime environment. The class library consistsof lots of prewritten code that all the applications created
in VB
.NET and Visual Studio .NET will use. The code for all the
elements like forms, controls and the rest in
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VB .NET applications actually comes from the class library.
Common Language Specification (CLS)
If we want the code which we write in a language to be
used by programs in other languages then it should adhere
to the Common Language Specification (CLS). The CLS
describes a set of features that different languages have in
common. The CLS defines the minimum standards that
.NET language compilers must conform to, and ensures
that any source code compiled by a .NET compiler can
interoperate with the .NET Framework.
Some reasons why developers are building applications
using the .NET Framework:
o Improved Reliability
o Increased Performance
o Developer Productivity
o Powerful Security
o Integration with existing Systems
o Ease of Deployment
o Mobility Support
o XML Web service Support
o Support for over 20 Programming Languageso Flexible Data Access
Minimum System Requirements to Install and Use
Visual Studio .NET
The minimum requirements are:
RAM: 256 MB (Recommended)
Processor: Pentium II 450 MHzOperating System: Windows 2000 or Windows XP
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Hard Disk Space: 3.5 GB (Includes 500 MB free space on
disk)
.NET Framework Advantages
The .NET Framework offers a number of advantages
to developers. The following paragraphs describe them in
detail.
1. Consistent Programming Model
2. Direct Support for Security
3. Simplified Development Efforts
4. Easy Application Deployment and Maintenance
Visual Basic .NET
Visual Basic .NET provides the easiest, most
productive language and tool for rapidly building Windows
and Web applications
Visual Basic .NET comes with enhanced visual
designers, increased application performance, and a
powerful integrated development environment (IDE). It also
supports creation of applications for wireless, Internet-
enabled hand-held devices. The following are the features
of Visual Basic .NET with .NET Framework 1.0 and VisualBasic .NET 2003 with .NET Framework 1.1. This also
answers why should I use Visual Basic .NET, what can I do
with it?
Powerful Windows-based Applications
Visual Basic .NET comes with features such as a
powerful new forms designer, an in-place menu editor, and
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automatic control anchoring and docking. Visual Basic .NET
delivers new productivity features for building more robust
applications easily and quickly. With an improved
integrated development environment (IDE) and a
significantly reduced startup time, Visual Basic .NET offers
fast, automatic formatting of code as you type, improved
IntelliSense, an enhanced object browser and XML
designer, and much more.
Building Web-based ApplicationsWith Visual Basic .NET we can create Web
applications using the shared Web Forms Designer and the
familiar "drag and drop" feature. You can double-click and
write code to respond to events. Visual Basic .NET 2003
comes with an enhanced HTML Editor for working with
complex Web pages. We can also use IntelliSensetechnology and tag completion, or choose the WYSIWYG
editor for visual authoring of interactive Web applications.
Simplified Deployment
With Visual Basic .NET we can build applications more
rapidly and deploy and maintain them with efficiency.
Visual Basic .NET 2003 and .NET Framework 1.1 makes
"DLL Hell" a thing of the past. Side-by-side versioning
enables multiple versions of the same component to live
safely on the same machine so that applications can use a
specific version of a component. XCOPY-deployment and
Web auto-download of Windows-based applications
combine the simplicity of Web page deployment and
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maintenance with the power of rich, responsive Windows-
based applications.
Powerful, Flexible, Simplified Data Access
You can tackle any data access scenario easily with
ADO.NET and ADO data access. The flexibility of ADO.NET
enables data binding to any database, as well as classes,
collections, and arrays, and provides true XML
representation of data. Seamless access to ADO enables
simple data access for connected data binding scenarios.Using ADO.NET, Visual Basic .NET can gain high-speed
access to MS SQL Server, Oracle, DB2, Microsoft Access,
and more.
Improved Coding
You can code faster and more effectively. A multitude
of enhancements to the code editor, including enhanced
IntelliSense, smart listing of code for greater readability
and a background compiler for real-time notification of
syntax errors transforms into a rapid application
development (RAD) coding machine.
Direct Access to the Platform
Visual Basic developers can have full access to the
capabilities available in .NET Framework 1.1. Developers
can easily program system services including the event
log, performance counters and file system. The new
Windows Service project template enables to build real
Microsoft Windows NT Services. Programming against
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Windows Services and creating new Windows Services is
not available in Visual Basic .NET Standard, it requires
Visual Studio 2003 Professional, or higher.
Full Object-Oriented Constructs
You can create reusable, enterprise-class code using
full object-oriented constructs. Language features include
full implementation inheritance, encapsulation, and
polymorphism. Structured exception handling provides a
global error handler and eliminates spaghetti code.
XML Web Services
XML Web services enable you to call components
running on any platform using open Internet protocols.
Working with XML Web services is easier where
enhancements simplify the discovery and consumption of
XML Web services that are located within any firewall. XML
Web services can be built as easily as you would build any
class in Visual Basic 6.0. The XML Web service project
template builds all underlying Web service infrastructure.
Mobile Applications
Visual Basic .NET 2003 and the .NET Framework 1.1
offer integrated support for developing mobile Web
applications for more than 200 Internet-enabled mobile
devices. These new features give developers a single,
mobile Web interface and programming model to support a
broad range of Web devices, including WML 1.1 for WAP
enabled cellular phones, compact HTML (cHTML) for i-Mode
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phones, and HTML for Pocket PC, handheld devices, and
pagers. Please note, Pocket PC programming is not
available in Visual Basic .NET Standard, it requires Visual
Studio 2003 Professional, or higher.
COM Interoperability
You can maintain your existing code without the need
to recode. COM interoperability enables you to leverage
your existing code assets and offers seamless bi-directional
communication between Visual Basic 6.0 and VisualBasic .NET applications.
Reuse Existing Investments
You can reuse all your existing ActiveX Controls.
Windows Forms in Visual Basic .NET 2003 provide a robust
container for existing ActiveX controls. In addition, full
support for existing ADO code and data binding enable a
smooth transition to Visual Basic .NET 2003.
Upgrade Wizard
You upgrade your code to receive all of the benefits of
Visual Basic .NET 2003. The Visual Basic .NET Upgrade
Wizard, available in Visual Basic .NET 2003 Standard
Edition, and higher, upgrades up to 95 percent of existing
Visual Basic code and forms to Visual Basic .NET with new
support for Web classes and UserControls.
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PPROJECTROJECT
OOVERVIEWVERVIEWDepartment of Computer Technology-SHMIT 25
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PPROJECTROJECTOVERVIEWOVERVIEW
What we present here is an elementary robotic land
rover that can be controlled remotely using primarily the
RF mode. The RE remote control has the advantage of
adequate range (up to 200 meters with proper antenna)
besides being omni directional. On the other hand, an ER
remote would function over a limited range of about
5metres and the remote transmitter has to be oriented
towards the receiver module quite precisely. However, the
cost involved in using RE modules is much higher than of
IR components and as such, we have included the re
placement alternative of RF modules with their IR
counterparts for using the IR remote control.
The proposed land rover can move in forward, and
reverse directions. You would also be able to steer it
towards left and right directions. While being turned to left
or right, the corresponding blinking LEDs would blink to
indicate the direction of its turning. Similarly, during
reverse movement, reversing LEDs would be lit. Front and
rear bumpers are provided using long operating lever of
micro switches to switch off the drive motors during any
collision.
The decoder being used for the project has latched
outputs and as such you do not have to keep the buttons
on remote control pressed for more than a few
milliseconds. This helps prolong the battery life for remote.
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Forward and reverse movement
To keep our design as simple as possible, we have
coupled a 30-rpm geared 6V DC motor to the left front
wheel and another identical motor to the right front wheel.
Both these front motors are mounted side-by-side facing in
opposite directions. Wheel rims (5cm diameter) along with
rubber wheels are directly coupled to each of the motor
shafts, This arrangement does not require separate axles.
During forward (or reverse) movement of the vehicle, the
two wheel shafts, as viewed from the motor ends, would
move in opposite directions (one clockwise and the other
anticlockwise). For reversing the direction (forward and
backward), you simply have to reverse the DC supply
polarity of the two motors driving the respective wheels.
Steering control
There are different methods available for steering a
robotic vehicle. The commonly used ones are:
1. Front wheels are used for steering, while rear wheels are
used for driving; e.g. in tractors.
2. Front wheels are used for steering as well as driving;
e.g., in most light vehicles. In these vehicles (such as cars),
the front wheels are coupled using a differential gear
arrangement. It comes into play only when one wheel
needs to rotate differentially with respect to its counter
part. When the car is moving in a straight line, the
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differential gears do not rotate with respect to their axes.
However, when the car negotiates a turn, the differential
allows the two wheels to rotate differentially with respect
to each other.
3. All the four wheels are used for driving as well as
steering. Examples are Kyosho (USA) 4-wheel drive/4-
wheel steering elect powered monster truck chassis.
4. Single front wheel is used for driving as well as steering;
e.g., in a tricycle.
5. Two driving wheels that are in dependently controlled to
turn; e.g., in a tank.
In our project, to keep the things simple, we have
used Method-5 with some modification. For the rear
wheels, we have made use of a single. plastic castor wheel,
identical to the ones used in revolving chairs. Such a wheel
turns by 1800 when you try to reverse the direction of the
vehicles motion. This way the movement of the rover
become stable in both the for ward and reverse directions.
The steering (clockwise or anticlockwise) motion is
achieved by driving only one wheel at a time. To turn the
vehicle towards left (as perceived by the driver) we
energies only the right- hand-side motor, and to turn it
towards right we energies only the left- hand-side motor
during turning.
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The movement is controlled with the help if the tilt
sensor which generates the different bit patterns as
discussed in Tilt Sensor Topic.
TTRANSMITTERRANSMITTER
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TTRANSMITTERRANSMITTER
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RF transmitter and RF receiver
The RF transmitter arid receiver modules marketed by
Aplus India, Mumbai have been employed for RF remote
control. The RF transmitter TX-433 is an AM/ASIC
transmitter. Its features include:
1. 5V-12V single supply operation
2. On-off-keying (OOK)/amplitude shift keying (ASK) data
format
3. Up to 9.6kbps data rate
4. +9dBm output power (about 200m range)
5. SAW-based architecture
6. For antenna, a 45cm wire is adequate.
The output power and current drain of the HF
transmitter for Vcc of 5V and 12V are tabulated in Table IV.
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The pin configuration of the transmitter module is
shown in Fig. 4. The RF receiver RX-433 is a 433MHz
module. Its pin configuration is shown in Fig. 5 and
technical specifications are given in Table V.
Remote transmitter.
A complete schematic of the remote control
transmitter-encoder circuit is shown in Fig.
The receiver address to be transmitted can be set with thehelp of 8 way DIP switch DIP-SW2.
When any switch is open the pin connected to that switch
is at logic 1, and when it is closed the respective pin is at
logic 0. The data pins are pulled high via resistors R2
through R5. In this condition if TE pin is taken low (by
depressing STOP switch) the binary data transmitted via
pins AD8 through AD11 will be 1111 (decimal 15). When
any other data pin marked FWD, REV, LEFT or RIGHT alone
is pressed, a 0 will be sent at that data position, while
other data pins will represent logic 1 state. The logic
circuitry at the receiver- decoder end will decode the data
appropriately for controlling the two motors of the land
rover.
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IR based alternative.
The RF modulator used in the remote can be easily
replaced with the IR modulator circuit built around IC2 and
transistor T1. The RF/IR selection can be affected by
moving the shorting link of Con-1 connector. Similarly, the
RF receiver module in the RF receiver-decoder can be
replaced with them receiver module shown in Fig. .
For using the IR-based encoder, the DOUT signal pin (pin
17) of HT12E is to be connected to DIN pin 5 of astable
oscillator IC CD4047 for modulating its output. The
frequency of the astable at output pin 10 is determined by
the timing components as follows:
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1
Frequency 4.71x(R6+VR1)xC3 Hz
This frequency is adjusted for 38 kHz with pin 5 held
at logic 1. The modulated 38 kHz, after amplification by
Darlington pair of transistors T1 and T2, drives IRLED
LD271 (or equivalent).
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RRECEIVERECEIVER
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RRECEIVERECEIVER
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RF receiver-decoder.
The complete RF receiver-decoder circuit employing
HT12D is shown in Fig. 7. Assuming that identical address
is selected on the encoder and the decoder, when any of
the switches on the transmitter (marked as FWD, REV,
RIGHT, LEFT) is depressed, the corresponding datapin of
the demodulator will go low. The data outputs of HT12I)
are fed to 8-bit priority encoder CD4532 via inverters to
generate appropriate logic outputs in conformity with
Table III to control the left-/right motors for required
motion of the land rover as explained earlier. However,
when STOP button is pressed on the remote transmitter,
all data pins (D8 through D11 on the decoder will latch to
the high output state. After inversion by NAND gates N1
through N4, all the outputs will be low and hence EI (pin
5) of CD4532 will go low to force all its outputs to go low.
As a result, both the motors will stop running.
You may like to verify the code generated at the outputs
of CD4532 with the help of truth table (refer Table VI).
The following is the exact sequence of operation at the
receiver (Fig.) and the motor driver (Fig.) when a specific
push switch is momentarily pressed on the transmitter:
Forward
The D8 output (pin 10) of IC3 goes low which after in
version by inverter N1 goes high to switch on the front
LEDs (LED2 and LED3) via driver transistor T6 and take
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D3 input (pin 13) of IC5 high. This causes Q2, Q1 and Q0
going to logic states 0,l and 1, respectively (as per
Table VI), and as a result, both the motors will run in such
directions as to move the rover in forward direction.
Reverse.
The D9 output (pin 11) of IC3 goes low, which after
inversion by inverter N2 goes high to switch on the rear
LEDs (LED4 and LED5) via driver transistor T7 and take
D4 input (pin 1) of IC5 high. This results in Q2, Q1 and Q0
going to logic states 1, 0 and 0, respectively (as per
Table VI), and as a result, both the motors will run in such
directions as to move the rover in reverse (backward)
direction.
Left.
The D1 output (pin 12) of 1C3 goes low, which after
inversion by inverter N3 goes high to switch on the left
blinking LED7 after a second inversion by inverter/driver
gate N6 and makes D2 input (pin 12) of IC5 high. This
results in Q2, Q1 and Q0 going to logic states 0, 1 and
0, respectively (as per Table V and as a result, only the
right-hand-side motor will run and the left-hand-side
motor will be static, This causes the rover to perform a
left turn.
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Right.
The D11 output (pin 13) of IC3 goes low, which after
inversion by inverter N3 goes high to switch on the right
blinking LED6 after a second inversion by inverter/driver
gate N5 and makes Dl input (pin 11) of IC5high. This
results in Q2, Q1 and Q0 going to logic states 0,0 and
1/ respectively (as per Table VI) and as a result, only the
left-hand-side motor will run and the right-hand-side
motor will be static. This causes the rover to perform a
right turn.
5. Stop. The D8 through D11 out puts of IC3 go high and,
after inversion by inverters N1 through N4, cause blocking
of diodes D5 through D8. As a result, ground is extended
to EI pin 5 through resistor R17 and all the out puts (Q2,
Q1 and Q0) of CD4532 go low to stop both the motors. All
the LEDs also stop glowing.
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DDRIVERRIVER
CCIRCUITIRCUIT
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DDRIVERIVECIRCUITCIRCUITFORFORTHETHEMOTORSMOTORS
Here is a typical circuit for driving one of the motors,
in forward or reverse direction, coupled to, say, the left-
hand front wheel. Simultaneously, the tight- hand motor
has to rotate in the reverse direction (w.r.t the left-hand
motor) for moving the vehicle in the same direction. it
means that input terminals of the motor drive circuit for
the right- hand motor have to be fed with reverse-polarity
control signals com pared to those of the left-hand motor
drive circuit.
In the H-bridge motor drive circuit (see Fig. 2)
when Al input is made high and A2 is made low, transistor
T1 (npn) is forward biased and driven into saturation, while
transistor T2 (pnp), being reverse- biased, is cut-off. This
extends the batterys positive rail to terminal-1 of the
motor. Simultaneously, with input A2 at ground potential,transistor T3 (npn) is cut-off, while T4 (pnp) is forward
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biased and driven into saturation. This results in ground
being extended to terminal-2 of the motor. Thus the motor
rotates in one direction.
Now, if the two inputs are logically complemented,
the motor will run in the opposite direction. When both the
inputs are at the same logic level (Gnd or Vcc), the motor
is at rest. Thus we can control the movement (forward,
reverse and stop) as well as the direction of rotation of the
motor with the help of logic level of the two control input
signals to the motor.
Motor control logic
As per the preceding explanation, the input logic
levels required at terminals Al and A2 of the left-hand
motor drive circuit and at input terminals Bi of B2 of the
right hand motor drive circuit are shown in Table I.
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Table I can be re-arranged as Table II, which can be further
simplified as Table III. The equivalent hex values of the
binary control signals are indicated in Table III. It transpires
that if we connect (short) input terminals A2 and B1 of the
two motor control circuits together, we can control both
the motors
for forward,
reverse, left
and right
movement of
the vehicle
using the 3-
bit binary
number
shown in
Table III This
fact will be
used while
arriving at
the
integrated
circuit forcontrolling the motors for appropriate movement of the
land rover.
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Remote control
For remote control, we have used Holtek encoder- Decoder
pair of HT12E and HT12D employing RF as well as IR
principles. Both of these are 18-pin DII ICs. Their pin con
figurations are shown in the test circuit of Fig. 3.
Operation of Holtek
HTl2E and HTI2D. HT12E and HT12D are CMOS ICs
with working voltage ranging from 2.4V to 12V. EncoderHT12E has eight address and another four address/data
lines. The data set on these twelve lines (address and
address/data lines) is Serially transmitted when the
transmit enable pin TE is taken low. The data output
appears serially on the Dout pin. The data is transmitted
four times in succession. It consists of differing- length of
positive-going pulses for 1 and 0, the pulse-width for 0
being twice the pulse-width for 1. The frequency of these
pulses may lie between 1.5 and 7kHz depending on the
resistor value between OSC1 and OSC2 pins.
The internal oscillator frequency of decoder HT12D is
50 times the oscillator frequency of encoder HT12E. The
values of timing resistors connected between OSC1 and
OSC2 pins of HT12B and HT12D, for given supply voltages,
can be found out from the graphs given in the datasheet of
the respective chips. The resistor values used in the
circuits here are chosen for approximately 3kHz frequency
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for the encoder (HT12E) and 150 kHz for de coder HT12D
at Vdd of 5V.
The HT12D receives the data from the HT12E on its
Din pin serially. If the address part of the data received
matches the levels on A0 through A7 pins four times in
succession, the valid transmission (VT) pin is taken high.
The data on pins AD8 through AD11 of the HT12E appears
on pins D8 through D11 of the HT12D. Thus the device acts
a receiver of 4-bit data (16 possible codes) with 8-bit
addressing (256 possible channels).
The test circuit given in Fig. 3 will help you in
checking the functional serviceability and synchronization
of the frequency of operation. Once the frequency of the
pair is aligned, on pressing of push switch S1 on the en
coder, LED on the decoder should glow. You can also check
the transfer of data on pins AD8 through AD11(the data
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pins of the encoder can be set as high or low using
switches S2 through S5), which is latched on pins D8
through D11 of the decoder once TE pin is taken low
momentarily using push switch S1. This completes the
testing of encoder decoder pair of HT12E and HT12D.
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IINFRANFRA
RREDED
RRECEIVERECEIVER
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IINFRANFRA RREDED RRECEIVERECEIVER
The RF receiver module can be easily replaced with the IR
circuitry by moving the shorting link of Con-2 connector
appropriately. For the receiver to work in IR mode, it is
to be ensured that the transmitter is also working in IR
mode. The output of the IR circuit is to be connected to
Din pin 14 of decoder HT12D. The IR detector comprises
IR receiver module TSOP1738, whose output is amplified
by Darlington pair of pnp transistors T4 and T5 before
connection to HT12D The rest of the circuit remains
unchanged for IR operation.
Drive circuit . For controlling the two drive motors, we
have used the quad half-H driver circuits contained
inside IC L293D to configure them as two H-Bridge driver
circuits (as explained with reference to Fig. 2). L293does
not require external free-wheeling diodes as the same
are built into the IC. The control output from CD4532 of
the receiver/decoder circuit is connected to the inputs
of L293D in accordance with the logic explained earlier
in Table III. The battery supply for the motor drive circuit
is routed via the normally made contacts of micro
switches S8 and S9, whose operating levers serve as
part of the front and back bumpers of the land rover. In
case these micro switches are not used short the switch
terminal points using jumpers.
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Construction
Combined actual-size, single-side PCB for the remote
transmitter and the receiver-decoder-driver and its
component- side layout. The remote transmitter part can
be easily cutout from the integrated PCB, A suitable FRC
connector arrangement has been made on the receiver-
decoder-driver PCB for extending connections to the drive
motors, LEDs and battery mounted on the chassis of the
land rover.
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MMECHANICALECHANICAL
AASSEMBLYSSEMBLY
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MMECHANICALECHANICALASSEMBLYASSEMBLY
The working prototype, as shown in Fig., has been
fabricated using readymade sheet metal parts, wheels,
geared motors, axles, brass collars (with grub screws),
brackets, etc. The overall dimensions (length x width x
height) of the rover, before mounting the battery and the
PCe, are approximately 14 x 9 x 7.5 cm. The mechanical
parts used are shown under the Mechanical Parts List.
There is much scope for improving the aesthetics of this
prototype. Hopefully, the enthusiasts/hobbyists would
devote extra time and energy to give it a more professional
appearance.
The mechanical assembly of the rover is followed by
proper placement of the battery (6V, 4Ah), mounting of the
PCB (over the battery) and finally plugging the connectors
from the battery, motors and various LEDs (mounted on
the rover) into the corresponding connectors on the PCB be
fore being able to control various motions of the land rover
remotely using either RF or IR principlesby simply
shifting the jumpers in the remote transmitter and receiver
PCBs towards appropriate positions.
Here are some useful hints and sequence for successful
assembly of the land rover.
1. The geared motors that we have used in the
prototype have a 125mm plastic flange with threads
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and a metal nut for securing it in position. The shaft
(4mm dia.) protrudes from the centre of the flange.
The two flat plates (part No. 926) used by us had only
4mm holes (perforations). Thus for securing the
motors onto these plates, the 4mm holes at 2.5cm
position (from the front and bottom edges) were
increased to 13mm and motors (with shafts facing in
opposite directions) were secured to the two plates.
With 2cm dia. wheels pushed onto the motor shafts,
we had adequate clearance from ground. Giving slight
clearance from the plate, the wheel pulleys were
secured on the motor shafts by tightening the grub
screws on boss of the pulleys.
2. After securing the motors and wheels, we attached
two angled brackets part No. 102 (at front and rear-
middle positions) of the two flat plates (part No. 926)
for mounting LEDs (using Feviquick) for front and rear
directions. Also using reverse-angle brackets (part No.
105), we suitably mounted the direction-indicating
LEDs on the two flat plates.
3. The next step is to mount 5cm dia. Castor wheel
(plastic) at the rear of the flanged plate in middleposition, roughly 2 cm from the edge. (The flange is to
face up.) Again we had to enlarge a 4mm hole in the
required position to 10mm dia. as the diameter of the
threaded bolt of the castor wheel is around 9 mm. Use
two nuts (one before passing the bolt through the
hole on the flanged plate and the other after theflanged plate). This provides for adjusting the height
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of castor wheel, so that all the three wheels on the
rover are at the same level when fully assembled. The
castor wheel should have clearance for 360 move
ment, when assembled.
4. Join the flanged plate (refer step 3) to the two flat
plates (refer steps 1 and 2) so as to form two sides of
the rover. The width of the flanged plate needs to be
increased by 2.54 mm so that the motor ends do not
fowl against each other and the castor wheel has 360
free movement. This is achieved by securing four bent
strips (part 108)two on each side of the flange plate
using 12mm bolts and nuts. Also use two axles (part
No.610) along with collars (part No. 760) to maintain
parallelism of the two side plates.
5. Fix directional LEDs on the ships using Feviquick and
wire/terminate them on the connectors as per the
circuit diagram of the receiver. Similarly, terminate
connections from the battery and motors (A and B)
onto the connectors, which would mate with their
respective connectors on the receiver PCB. Make a
provision for reversing the polarity to one of the two
motors, in case you find one of them rotating in wrongdirection due to the wiring error.
6. Use some thermocole sheet on the flanged sheet to
ensure that the battery sits over it, maintaining
proper balance. Use four 10cm long screws and nuts
through the flanged plate for mounting the receiver
PCB through its four corner holes. The screws shouldsecure the battery and the PCB in position.
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7. Now insert the connectors from the battery, LEDs and
motors into their corresponding connectors on the
receiver PCB. This completes the mechanical
assembly of your rover.
00K is the modulation method of choice for remote
control applications where power consumption and cost are
the primary factors. Because 00K transmitters draw no
power when they transmit a 0, .These exhibit significantly
lower power consumption than FSK transmitters.
00K modulation is a binary term of amplitude modulation.
When logic 0 (low data line) is being sent, the transmitter
is off, fully suppressing the earner. In this state, the
transmitter current is very low (less than 1 mA) When logic
l is being sent, the carrier is fully on. In this state, the
current consumption of the module is at its highestabout
4.5 mA with a 3V power supply.
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CCOMPONENTOMPONENT
LLISTIST
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CCOMPONENTOMPONENT LLISTIST
Sr.No Component Quantity RateIC1 Ht12E 1 50
IC2 Cd4047 1 40
IC3 HT12D 1 50
IC4 CD 4049 1 50
IC5 Cd4532 1 50
IC6 L293D 1 250
TX1 Tx-433RF(ASK) 1 550
TX2 LD271 1 250
Rx1 Rx-433 RF(Ask) 1 550
Rx2 Tsop1738 1 40
T2 2N2222 1 10
T4 BC 557 1 5T5 2N2907 1 25
T1,T3 BC 548 2 10
T6,T7 BC 548 2 10
Led1-5 5m LED 5 20
LED6,7 Blinking RED 2 40
R1 1Mohm 1 5
R2-5,R9,R22 10Kohm 5 5
R6,R16,R17 4.7Kohm 3 5
R7 2.2Kohm 1 1
R8 22ohm 1 1R10,R25-27 1Kohm 3 5
R11-R15,R21 470ohm 3 5
R18 47Kohm 1 1
R19 3.9kohm 1 1
R20 22kohm 1 1
R23 330ohm 1 1
R24 100ohm 1 1
Vr1 10kpreset 1 10
C1,5,6 10uF/16v 3 30C2 0.1uf disc 1 5
C3 390pf 1 2
C4 100uf/16v 1 10
S1-5 Push Button Switch 5 25
S6,S7 On/off Switch 2 20
Sw1-SW2 DIP switch 2 50
S8,S9 Micro Switch 2 40
Bat1-Bat2 6v 4,5Ah battery 2 400
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PPCBCB
LLAYOUTAYOUT
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PCB LPCB LAYOUTAYOUT
Solder Side
Component Side
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RFRF
MMODULEODULE
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RF MRF MODULEODULE
Radio Transmitter - TLP434A
Our new Ultra Small Wireless
Transmitter is ideal for remote control
projects or data transfers to a remote
object. Applications include mobile
robots, burglar alarms, remote control
and wireless data transfers. This
compact unit operates from only 2V up
to 12V. A range of up to 200m is possible with an antenna
fitted. The unit can connect directly to a HT12E IC or
similar encoder.
Features
Frequency - 433.92MHz
Operating Voltage - 3 - 12 Vdc
Data Rate - Up to 8K bps
Works with HT12E or other Encoder
Low current consumption.
Easy for application development
Efficient SPI interface
Operating voltage 4.75-26 Volts
Operating temperature range 4085
Frequency Range 433.92 MHz
Programmable output power and Hign sensitivity
Programmable data rate up to 500kbps
Suitable for frequency hopping protocols
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Radio Receiver - RLP434
Just released our new
Compact Radio Receiver,
works directly with the
transmitter above on an
operating frequency of
433.92MHz. Ideal for many applications, including robots,
where commands can be sent directly to the robot, without
the need for a hard-wired connection. Suitable for data
rates of up to 4.8KHz, and the typical operating current is
only 4.5mA.
Features
Frequency - 433.92MHz
Operating Voltage - 3.3 - 6 Vdc
Data Rate - 4800 bps
Works with HT12D or other Decoder
Dimensions: Width - 43.4mm , Height - 11.5mm
(Excluding Pins)
Applications
433 ISM/SRD band systems
Consumer Electronics Industrial monitoring and control
Wireless alarm and security systems
Home and building automation
AMR Automatic Meter Reading
RKE Two-way Remote Keyless Entry
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AABOUTBOUT
IIMAGEMAGE
PPROCESSINGROCESSING
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SSOURCEOURCE
CCODEODE
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AADVANTAGESDVANTAGES
ANDAND
AAPPLICATIONSPPLICATIONS
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PC based Wireless Army tank
AADVANTAGESDVANTAGESANDAND AAPPLICATIONSPPLICATIONS
Advantages
1.Two Type of interface
a. RF interface
b. Infra red Interface
2. No interference of the surrounding RFI or EFI
3. Can work upto longer diastance if tranmitter power is increased
4. Cheaper as compared to other technology
5. Modifcations can be easily
6. Low Power system
7. Mechanical assembly can lift load upto 2Kg.
Applications
1.by using Spy Camera photographs can be taken were normal man
cannot go.
2.Can be used as remote controlled vehicale
3. Used to performed chemical reaction which dangerous for
Human being
4. Can be used for Bioler control
Department of Computer Technology-SHMIT 68
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7/27/2019 Unmanned Wireless Vehice
69/70
PC based Wireless Army tank
5. Used as Robotic arm by making some modifications.
BBIBLIOGRAPHYIBLIOGRAPHY
Department of Computer Technology-SHMIT 69
-
7/27/2019 Unmanned Wireless Vehice
70/70
PC based Wireless Army tank
BBIBLIOGRAPHYIBLIOGRAPHY
Websites
1. www.wikipedia.com
2. www.reynoldelectronics.com
3. www.Howstuffworks.com
4. www.sunromtechnoloiges.com
5. www.Futurlec.com
6. www.maxim.com
Reference books
1. Applied Electronics R. S. Seddha
2. Electronics Communication Kennedy
3. Basic Electronics Bhargava Gupta
4. Modern Digital Electronics R. P. jain
5. Digital Electronics Malvino Leech
6. Up Data Hand Book
7. TTL handbook