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PROJECT PRESENTATION ON
CELLPHONEOPERATED ROBOTIC
ASSISTANT
ELECTRONICS ENGINEERING DEPARTMENT
SVNIT, SURAT-395007, INDIA
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Prepared by:
Anurag Gupta (U05EC401)Dhrumeel Bakshi (U05EC326)
Dileep Dhakal (U05EC388)
Jaidatt Sharma (U05EC338)Kankan Ghosh (U05EC340)
Guided by:
Mr. Abhilash Mandloi (Guide)
Mr. N.B. Kanirkar (Co-Guide)
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1. INTRODUCTION
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OVERVIEW AND DESIGN STEPS
Aim of the project is to use a mobile phone to control a
robotic arm mounted on a land rover.
Provides robust control, large working range and upto
12 controls.
Control of robot involves 3 different phases:-
1. Perception2. Processing
3. Action
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1. PRECEPTION
First part is the decoding of DTMF tone generated by
pressing a key in calling phone.
Audio signal output from receiving phone is fed to DTMF
decoder chip.
Decoder chip converts DTMF tone into binary codes to be
fed to microcontroller.
CM8870 IC used as DTMF decoder in our project
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2. PROCESSING
After preception stage, microcontroller processes thebinary codes it receives.
Microcontroller is pre-programmed in C to perform
specific task according to input bits.
Atmels ATmega16 is used for processing.
Program is written using AVR Studio and uploaded using
SuperPro.
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3. ACTION
Final stage is rotation of motors based on input given bythe microcontroller.
Two DC motors of 30 rpm are used for the land rover
and three servo motors of Futaba S3003 are used forrobotic arm
DC motors are driven by motor driver IC L293D.
Servo motors are driven by PWM generated by the
microcontroller.
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BASIC BLOCK DIAGRAM OF
PROJECT
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2. DTMF SIGNALS AND DTMFDECODING CIRCUIT
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DTMF Dual Tone Multiple-Frequency.
Signals generated by the superposition of two puresinusoidal tones.
Commonly used for telephone signalling over theline in the voice-frequency band, to the call switching
center.
Developed as a very reliable alternative to pulse-
dialing.
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DTMF represents numbers/digits as voice signals.
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The 12-keys numeric pad.
0 to 9 keys
* and # keys
DTMF assigns a
unique sound to each
key
Keys are arranged in a matrix of 3 columns and 4
rows.
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Grouping of FrequenciesGrouping of Frequencies
The DTMF signal generated is the sum of two
sinusoidal tones.
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Tone frequencies, are defined by the Precise Tone
Plan.
Harmonics and intermodulation products will not
cause an unreliable signal
No frequency is a multiple of another.
No frequency is the sum or difference of 2 other
frequencies.
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Communication OverviewCommunication Overview
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CM8870 is a very commonly used chip for
DTMF decoding.
It is a state of the art single chip DTMFreceiver incorporating switched capacitor filter
technology and an advanced digital
counting/averaging algorithm for period
measurement.
CM8870CM8870
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CM8870CM8870
Truth TableTruth Table
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Limitation on number of function codesLimitation on number of function codes
12 DTMF tones are available to us (using a
common touch-tone phone).
Number of functions may be extended to 144 byprogramming the microcontroller to accept two
codes instead of one.
Two key presses will be required from the
control mobile phone.
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Advantages of using theAdvantages of using the
DTMF communication schemeDTMF communication scheme
Working range is as large as the coverage area.
Problems due to Harmonics and their
interference are eliminated.
Only one tone per group is allowed.This eliminates reception of erroneous codes.
DTMF tones if received from external sources,
are neglected by amplitude comparison of thetwo tones.
Simple usage, and short numeric codes for control.
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DECODER CIRCUIT USED IN PROJECT
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3. ATMEGA16MICROCONTROLLER
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Q. WHY USE ATMELS ATMEGA16?
Widely used.
Easily available.
Cost effective.
Speed of execution of instructions. Flexible instruction set.
Vast documentation.
Easily available support and development tools.
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INTERFACING CIRCUIT USED IN PROJECT
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4. SERVO AND DC MOTOR
CONTROL
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SERVO MOTOR CONTROL USING PWM
SIGNALS
A servo consists of a dc motor, gear train, potentiometer,
and some control circuitry all mounted compactly in a
case.
Shaft rotation at relatively slow speeds.
Easily controlled by a microcontroller.
3 wires: white, red, and black
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White - control signal, red - power (usually 4.8 V to 6 V),
black - ground.
The control circuitry inside the servo must receive a
stream of pulses whose widths may vary between about 1
and 2 ms.
A potentiometer coupled to the rotation of the output shaft
produces a voltage corresponding to the angle of the shaft.
The control circuitry compares the average voltage ofthe control signal with the voltage from the potentiometer,
and the shaft rotates until the two voltages are the same.
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DIFFERENT PWM INPUTS
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SERVO MECHANISM - BLOCK
DIAGRAM
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GENERATION OF PWM SIGNALS
USING ATMEGA16
TimersTimer/Counter 0 8 bit
Timer/Counter 1 16 bit
Timer/Counter 2 8 bit
Pulse generation and variation
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TIMER REGISTERS
TCNTn : Timer/counter register
OCRn: Output Compare Register
TIFR : Timer Interrupt Flag register
TIMSK : Timer Interrupt Mask register
ICR1 : Input Capture register
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MODES OF OPERATION
Normal Mode: Simplest mode. Count sequence always
up.
Clear Timer on Compare Match (CTC) Mode
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Phase Correct PWM Mode
Dual slope operation.
Output compare set in one direction, cleared in other.
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Fast PWM Mode
Single slope operation
Easy to code.
Maximum frequency twice as high as Phase correct
PWM mode.
CONTROL WORD FORMATS AND
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CONTROL WORD FORMATS AND
REGISTER VALUES FOR FAST PWM MODE
Timer/Counter 0 Control Register
Bit 7 FOC0: Force Output Compare
Bit 6, 3 WGM01:0: Waveform Generation Mode Bit 5:4 COM01:0: Compare Match Output Mode
Bit 2:0 CS02:0: Clock Select
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TIMER 1 FOR PWM
Advantages:
o Higher resolution
o 2 PWM channels OC1A, OC1B
o TOP value can be set using ICR1
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Timer/Counter1 Control Register A TCCR1A
Timer/Counter1 Control Register B TCCR1B
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DC MOTOR CONTROLLER: L293D
Microcontroller output is not sufficient to drive DC motorsso L293D is used.
L293D comes in 16-pin DIP. It can provide currents upto
600mA at voltages from 4.5V to 36V.
It can be used to drive inductive loads such as relays,
solenoids etc and bipolar stepper motors.
In the project it is used for simultaneous bi-directional
control of two DC motors.
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DC MOTOR CONTROL
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L293D CIRCUIT USED IN PROJECT
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5. FINAL CIRCUIT SCHEMATIC,CODE AND EXPERIMENTAL
RESULTS
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SOFTWARES USED FOR PROGRAMMING
AND SIMULATIONS
AVR Studio for programming the Atmega16microcontroller and generating the HEX files.
SuperPro USB Series for burning the internal flash
memory of ATmega 16 using SuperPro 280U hardware.
Proteus ISIS for designing and simulating the circuit.
Circuit layout generation using Proteus Ares.
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WRITING CODE ON AVR STUDIO
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SUPERPRO USB SERIES
Freely available software to write the HEX file to themicrocontroller.
Uses SUPERPRO Model 280U as the burner.
Device support large number of Microcontrollers,
EEPROMs, microprocessors, PROMs. Microcontrollers can be tested and data can be verified.
Data can be erased in seconds.
USB supported.
UPLOADING PROGRAM USING
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SUPERPRO
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CIRCUIT SIMULATION
Cost and time saving. Signal generation and observation
Circuit Optimization for the best performance.
Program codes can be tested in the virtual
microcontroller.
Simulation result is an ideal performance parameters.
Fault detection and correction.
Hex files generated by AVR can be virtually tested in theProteus ISIS simulator.
FINAL CIRCUIT SCHEMATIC
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FINAL CIRCUIT SCHEMATIC
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PROTEUS-ISIS FEATURES
Supports large number of Microcontroller Units (MCUs)including ATmega 16.
Generating the proper signals for motor controller.
Huge gallery of circuit components.
Electromechanical components like Servo and DCmotors can be simulated.
Circuit can be transformed to design a Layout in Proteus
Ares software.
Hex file can be loaded directly to the MCU and observethe result.
Logic analyzer facility.
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CIRCUIT SIMULATION ON ISIS
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CIRCUIT SIMULATION ON ISIS (CONTD.)
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PROTEUS ARES FOR PCB LAYOUT
DESIGN
Auto routing and placing facility of optimization of the
circuit.
Custom design facility for implementation of any type of
IC (both QFP or DIP package).
Circuit designed in Proteus ISIS can be directly
transformed to PCB layout design.
3D visualization facility for multi-axis design
optimization.
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LAYOUT ON PROTEUS ARES
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Thank you!
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