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ALLAH ,
.for His uncountable gifts
Thesatisfactionandeuphoriathataccompany thesuccessful
completionofany
taskwouldbeincompletewithoutamentionofthepeoplewhomadeitpossibl
e, whoseconstantguidanceandencouragementcrownallthe
.effortswithsuccess
We are grateful Commodure Dr. Hatem Khater for his unlimited
help and useful advices, and for providing me the opportunity to
undertake this thesis. I am highly indebted to Brig Dr. Hayman
Elsayed Hassan, for taking keen interest in my work and for his
constant monitoring, valuable guidance, and support throughout the
course of this work. I profusely thank him for having patience to clear
my doubts and channelize my efforts.
Dedication
Abstract
Contents
Chapter1SKYGUARD
Chapter 1
SKYGUARD
1.1 Introduction
This chapter represents the overall operational systems of the fire control
unit the SKYGUARD unit consists of:
1234-
Fig 1.1
Fig 1.2
Fig 1.3
The SKYGUARD also includes an optical sight (OS) among the standard
accessories included in the delivery.
The connection between the FCU and the launcher as well as between the
FCU and the guns is established with one data transmission receiver each
and each of the latter is equipped with two field cables.
One the first field cabals the data line the entire data exchange (angle data
switch on and fire commands measurement data) are transferred between
the FCU and the weapons.
The second field cables the intercom line ensures the telephone
communications between the operating crew of the FCU and the
operating crew of the weapons.
The optical sight (OS) transmits the bearing and elevation angle via a 20
m long signal cable to the FCU.
listed with their subsystem numbers on the next page the numbers of the
subsystem are kept constant throughout the whole documentation
therefore subsystem on 11 is always the radar system on 15 is always the
intercom system.
1.5 Objective
Upgrade SKYGUARD wired communication system between station and
launchers based on wireless data transmission technique. Novel system to
convert the wired data to be wireless, Extend the distance between the
station and the launcher and increase the performance of the operational
situation of the SKYGUARD unit.
Chapter 2
Network communication systems
2.1 Introductions
This chapter consists of two of parts, This first one is
network communication protocols, This part takes about
the difference between the transmission control protocol
(TCP) and user diagram protocol (UDP), The second part is
the
network
communication
system,
and
this
part
A wide area network (WAN) is a network that covers abroad area (i.e.,
any telecommunications network that links across metropolitan, regional,
or national boundaries) using leased telecommunication lines. Business
and government entities utilize WANs to relay data among employees,
clients, buyers, and suppliers from various geographical locations. In
essence, this mode of telecommunication allows business to effectively
carry out its daily function regardless of location. The internet can be
considered a WAN as well, and is used by businesses, governments,
organizations, and individuals for almost any purpose imaginable.
Related terms for other types of networks are personal area networks
(PANs) , local area networks (LANs) which are usually limited to a
room , building , campus or specific metropolitan area (e.g., a city )
respectively .
1. Sky Guard
Body
2.3 Wireless3.LAN
A wireless local area network
(WLAN) linksconsol,
two or more
devices using
4. Operators
mechanical
some wireless distribution method (typically spread-spectrum or OFDM
9. Computer system
LANs have become popular in the home due to ease of installation, and in
10.
Tracker
system
commercial complexes
offering
wireless
access to their customers; often
for free. New York11.
City,Radar
for instance,
has begun a pilot program to
system
provide city workers in all five boroughs of the city with wireless internet
access.
TCP
UDP
Acronym
Transmission control
Connection
protocol.
TCP is connection
Function
orientated protocol.
A message makes its
protocol.
UDP is also a protocol used
in message transport or
another this is
connection based.
comparison
Usage
transmission time
as games.
Chapter 3
Sky guard data transmission technique
3.1 Data transmission FCU-Weapons
3.1.1 Purpose
The data transmission (DT) ensures exchanging data
between the fire control unit (FCU) and the weapons
connected (Gun and Launcher).The data is exchanged
serially and synchronously via a 2-wire line.Data is
transmitted from the FCU to the weapon (Forward
direction) and from the weapon to the FCU (Backward
direction).This type of data is called half duplex operation.
3.1.2DT transmitter
The DT transmitter is located in the FCU in the rear part of
the control desk on the right side .It is equipped with nine
PCBs in CORA format .
Four PCBs "DDT Arms I/O" form the interface. Two guns
and two launchers can be connected. The four transmitter
channels receiver. The timing signals from a common
program PCB.
Therefore,
the
transmitter
sends
the
3.2.5 DT test
For the automatic test of the data transmission by the
computer, the latter is using the order "DT test" via the
board "relay output" in the interface. This order is
transmitted through channel 9 to the DT receiver. In the
subsequent data output from the computer, zeros are fed
out for channels 1 and 2, and the bit combination 1010101
is emitted for channel 3 in the bits 16 to 22.
In addition to this, bit 8 of channel 3 carries the parity bit
p1 so that DT tests the following bit combination is
transmitted all together from the DT transmitter to the DT
receiver 10101011.
In the DT receiver this test word is decoded at the end of
channel 3, on the board "shift register DT receiver ". If it is
not recognized as correct, or if a parity error has appeared
the bit 0 in channel 8 is set as an error message and
transmitted during channel 8 from the DT receiver to the
DT transmitter. By calling the contents of the register the
computer is able to evaluate the error message.
If the transmission line from DT receiver to DT transmitter
is not working, the parity monitoring in the DT transmitter
sets the bit 0 in channel 8 and thus originates the error
message.
3.3 DT transmitter
3.3.1 Transmission of data (Channel 1 to 6)
Shortly before the frame starts, DT transmitter calls the
data for the channel 1 to 3 delivers the data Via "Cable
terminal board" and the output highway OH00 to OH22
from the computer using a special signal (interrupt signal).
The computer then in the PCB "DTT arms I/O". Caused by
the control board and the program FTT in the DT
transmitter the 23 bits are read into the data register, in
the form of 2x8 and 1x7 bits.
For transmission to the receiver the first eight bits (bit 00
to 07) are transmitted in parallel to transmission shift
register.
For
there
they
are
fed
in
series
to
the
transmission circuit.
The transmission circuit generates a transmission pulse
when a "1". This o be transmitted, alternating positive and
negative pulses. If a "0" is to be transmitted, no signal is
generated by the transmission circuit. This mode of
transmission is designed to keep the DC voltage levels
down in line.
The 24 bit to be transmitted is the parity bit. The transmit
parity circuit in the "DDT Arms I/O" ensures that the
number of once within the 24 bits to be transmitted is odd.
The parity circuit therefore has gene rate a "1" if the
preceding 23 bits contained an even number of ones and,
if it was an even number, it is use fault message. In this
3.3.2
Reception
of
backward
channels
(channel 7 and 8)
During the transmission of channels 7 and 8 the DDT in
the FCU receivers the back information from the weapons.
The contents of channel 7 are fed via receiver circuit and
receiver shift register into the register for backward
channel 7. The data are stored here until the register is
written again. Whenever the signal LPVO becomes active,
the data are fed to the computer via the input highway
IH01 to IH08. The contents of the channel 8 are similarly
received and stored in the register for backward channel 8
for the duration of one frame. The stored data control the
relay on the PCB "DDT Arms I/O". The relay contact
switches the corresponding lamps on the operation and
indication panel. The result of the parity control of P3 is
linked in an OR circuit with bit 0 channel 8 and fed via the
input highway IH00 with the data from 7 to the computer.
register
DT
receiver"
the
synchronizing
word
is
given
from
the
board
"program
DT
Examples
HTTP, HTTPS,
Orderings of data
FTP,SMTP,Telnet.
TCP rearranges data
packets
specified.
are independent of
each other. if ordering
is required , it has to
be managed by the
Speed of transfer
Reliability
application layer.
UDP is faster because
there is no error-
There is absolute
data transferred
reach at all.
Header size
send.
TCP header size is 20
Common header
bytes.
Source port,
bytes.
Source port,
fields
destination port,
destination port,
Streaming of data
checksum.
Data s read as a byte
checksum.
Packets are sent
stream, no
distinguishing
inductions are
transmitted to signal
message (segment)
boundaries.
Weight
TCP is heavy-weight.
originally sent.
UDP is lightweight.
there is no ordering of
packets to set up a
message , no tracking
socket collection,
connections , etc. it is
000000000066555handless reliability
and congestion
control.
TCP does flow
control.
a socket collection,
before any user data
can be sent. TCP
handless reliability
and congestion
Error checking
Fields
control.
TCP does error
checking.
checking , but no
1. Sequence
recovery options.
1. Length.
number.
2. Source port.
2. ACK
number.
3. Data offset.
3. Destination
port.
4. Checksum.
4. Reserved.
5. Control bit.
6. Window.
7. Urgent
pointer.
8. Options.
Acknowledgement
9. Padding.
Acknowledgement
No
Handshake
segments.
SYN,SYN-
acknowledgement.
No handshake
ACK,ACK.
(connectionless
Checksum.
protocol).
To detect errors.
Checksum
2.4 Summary
At the end of this chapter we conclude that in the network communication
protocols that the TCP is better protocol than UDP due to it is suited for
Chapter 4
Experimental setup & Result
Research component 4.1
4.1.1Stepper Motor Basics
4.1.1.1 Introduction
A stepper motor is an electromechanical device which
converts
electrical
pulses
into
discrete
mechanical
in
discrete
step
increments
when
electrical
4.1.1.2
Stepper
Motor
Advantages
and
Disadvantages
4.1.1.2.1 Advantages
1. The rotation angle of the motor is proportional to the
input pulse.
2. The motor has full torque at standstill (if the windings
are energized)
3. Precise positioning and repeatability of movement since
good stepper
4.1.1.2.2 Disadvantages
1. Resonances can occur if not properly controlled.
2. Not easy to operate at extremely high speeds.
4.1.1.3 Open Loop Operation
One of the most significant advantages of a stepper motor
is its ability to be accurately controlled in an open loop
system. Open loop control means no feedback information
about position is needed. This type of control eliminates
the need for expensive sensing and feedback devices such
as optical encoders. Your position is known simply by
keeping track of the input step pulses.
rotor.
The
strength
of
the
magnetic
fields
is
North Pole will attract the closest rotor tooth thathas the
opposite polarity, and the stator coil that is the South Pole
will attract the closest rotor tooth that hasthe opposite
polarity. When current is flowing through these poles, the
rotor will now have a much strongerattraction to the stator
winding, and the increased torque is called holding torque.
By changing the current flow to the next stator winding,
the magnetic field will be changed 45. The rotor willonly
move 15 before its magnetic fields will again align with
the change in the stator field. The magnetic fieldin the
stator is continually changed as the rotor moves through
the 24 steps to move a total of 360. Figure 2shows the
position of the rotor changing as the current supplied to
the stator changes.when current is applied to the A and A
stator windings, they will become a magnetwith the top
part of the winding being the North Pole, and the bottom
part of the winding being the South Pole.
You should notice that this will cause the rotor to move a
small amount so that one of its south poles isaligned with
the north stator pole (at A), and the opposite end of the
rotor pole, which is the north pole, willalign with the south
pole of the stator (at A). A line is placed on the south-pole
piece so that you can follow itsmovement as current is
moved from one stator winding to the next. In Fig. 2b
current has been turned off tothe A and A windings, and
current is now applied to the stator windings shown at the
B and B sides of themotor. When this occurs, the stator
winding at the B position will have the polarity for the
4.1.1.7.1 Specifications
1- Weight: 9 g
2- Dimension: 22.2 x 11.8 x 31 mm approx.
3- Stall torque: 1.8 kgcm
4- Operating speed: 0.1 s/60 degree
5- Operating voltage: 4.8 V (~5V)
6- Dead band width: 10 s
7- Temperature range: 0 C 55 C
PIC 4.2
PIC16F627A/628A/648A 4.2.1
The
PIC16F627A/628A/648A
basedmembers
is
of
18-pin
Flash-
the
PIC16F627A/628A/648Afamily
of
versatile
low-cost,
high-
PIC
microcontrollers
RISCarchitecture.
employ
The
an
advanced
PIC16F627A/628A/648A
instruction
and
data
buses
of
the
the
separate
8-bit
wide
data.
The
two-stage
twocycles).
total
of
35
instructions
(reduced
system
reliability
and
reducingpower
consumption.
The PIC16F627A/628A/648A has 8 oscillatorconfigurations.
The single-pin RC oscillator provides alow-cost solution.
The LP oscillator minimizes powerconsumption, XT is a
standard crystal, and INTOSC isa self-contained precision
two-speed internal oscillator.
The HS mode is for High-Speed crystals. The EC modeis for
an external clock source.
The Sleep (Power-down) mode offers power savings.Users
can wake-up the chip from Sleep through severalexternal
interrupts, internal interrupts and Resets.A highly reliable
Watchdog Timer with its own on-chip
RC
oscillator
lockup.Table
provides
1-1
protection
shows
the
against
features
software
of
the
The
PIC16F627A/628A/648A
series
fits
in
space
limitations.
Low
cost,
low
power,
high
4.2.2 ULN2803APG
The
ULN2803APG
AFWG
Series
are
4.2.2.1 Features
1- Output current (single output) 500 mA (Max.)
2- High sustaining voltage output50 V (Min.)
3- Output clamp diodes
Type
InputBaseResisto
Designation
ULN2803APG
/ 2.7 k
TTL, 5 V CMOS
AFWG
ULN2804APG
/ 10.5 k
6~15
AFWG
PMOS,
CMOS
ULN2801Ais
designedfor
generalpurpose
10.5kW
inputresistorand
zenerfor
14-25VPMOS;
4.2.3 PIC16F877A
Bytes: 14.3K
Single Word Instruction : 8192
Data SRAM (Bytes): 368
EEPROM (Bytes): 256
I/O: 33
Timers 8/16-bit: 2/1
The PIC16F87XA devices have a 13-bit program counter
capable of addressing an 8K word x 14-bit program
memory space. The PIC16F876A/877A devices have 8K
words x 14 bits of Flash program
memory, while PIC16F873A/874A devices have 4K words x
14 bits. Accessing a location above the
physically implemented address will cause a wraparound.
The Reset vector is at 0000h and the interrupt vector is at
0004h.
4.4 Algorithm
Prep
Chapter 5
Microcontroller
Introduction 5.1
Even at a time when Intel presented the first
microprocessor with the 4004 there was already a demand
for microcontrollers: The contemporary TMS1802 from
Texas Instruments, designed for usage in calculators, was
by the end of 1971 advertised for applications in cash
registers, watches and measuring instruments. The TMS
1000, which was introduced in 1974, already included
RAM, ROM, and I/O on-chip and can be seen as one of the
first
microcontrollers,
microcomputer.
The
even
first
though
controllers
it
was
to
called
gain
really
5.3 Arduino
The Arduino environment has been designed to be easy to use for
beginners who have no software or electronics experience. With
Arduino, you can build objects that can respond to and/or control
light, sound, touch, and movement. Arduino has been used to create
an amazing variety of things, including musical instruments, robots,
light sculptures, games, interactive furniture, and even interactive
clothing.
Arduino is the best known for its hardware, but you also need
software to program that hardware. Both the hardware and the
software are called Arduino. The combination enables you to
create projects that sense and control the physical world. The
software is free, open source, and cross-platform. The boards are
inexpensive to buy, or you can build your own (the hardware
designs are also open source). In addition, there is an active and
supportive Arduino community that is accessible worldwide through
the.
Arduino Uno
Arduino Leonardo
Arduino Nano
Arduino Mega
Arduino Mini
Figure 5.1
The difference between these boards to each other is the
number of input and output digits and the mass of IC of any
board.
5.6Arduino Hardware
The Arduino board is where the code you write is
executed. The board can only control and respond to electricity, so
specific components are attached to it to enable it to interact with
Figure 5.2
Solution
The Arduino software for Windows, The Windows download is a
ZIP file. Unzip the file to any convenient directory Program
Files/Arduino is a sensible place. Can be downloaded from
Unzipping the file will create a folder named Arduino-00<nn>
(where <nn> is the version number of the Arduino release you
downloaded). The directory contains the executable file (named
Arduino.exe), along with various other files and folders.
DoubleClick the Arduino.exe file (figure5.3) and the splash screen
should appear (figure5.4) followed by the main program window.
Be patient, as it can take some time for the software to load.
Figure 5.3
Figure 5.4
Solution
Plug the board into a USB port on your computer and check that
the green LED power indicator on the board illuminates. Standard
Arduino boards (Uno, Duemilanove, and Mega) have a green LED
power indicator located near the reset switch. An orange LED near
the center of the board (labeled Pin 13 LED) should flash on and
off when the board is powered up (boards come from the factory
preloadedwith software to flash the LED as a simple check that the
board is working figure 5.5).
Figure 5.5
Discussion
If the power LED does not illuminate when the board is connected
to your computer, the board is probably not receiving power. The
flashing LED (connected to digital output pin 13) is being controlled
by code running on the board (new boards are preloaded with the
Blink example sketch). If the pin 13 LED is flashing, the sketch is
running correctly, which means the chip on the board is working. If
the green power LED is on but the pin 13 LED is not flashing, it could
be that the factory code is not on the chip.
Solution
Use the Arduino IDE to create, open, and modify sketches that
define what the board will do. You can use buttons along the top
of the IDE to perform these actions or you can use the menus or
keyboard shortcuts The Sketch Editor area is where you view and
edit
Code for sketch. After youve started the IDE, go to the
FileExamples menu and select 1. BasicsBlink The code for
blinking the built-in LED will be displayed in the Arduino board.
You should see a message that reads Compiling... in the
message area below the text editing window. After a second or
two, a message that reads Done Compiling will appear. The
black console area will contain the following additional message:
BINARY
SKETCH SIZE :
1008
BYTES
(OF
32256
BYTE MAXIMUM ).
Figure 5.6
Note:
Source code for Arduino is called a sketch. The process that takes a
sketch and converts it into a form that will work on the board is
called compilation. The IDE uses a number of command-line tools
Figure 5.7
Serial.println("300");
}
if (sensorValue2 == 0) {
Serial.println("400");
}
if (sensorValue1 == 512 && sensorValue2 == 512) {
Serial.println("500");
}
delay (100);
}
}