GSM BASED ROBOTIC VEHICLE

The project is on embedded system enabled with GSM communication. A robotic

vehicle is controlled using the principle of DTMF. Automatic water supply system
has been added with the system. The vehicle can be used as a multi purpose rescue
robot or floor cleaner or emergency robot for healthcare system or Agricultural
robot.The vehicle is getting energy from multiple renewable energy sources like
solar and wind along with energy from salt water.
CHAPTER1
Introduction to DTMF
DTMF means: Dual Tone Multi-Frequency, There is no base band multiplexing
done on DTMF signals. The signal generated by a DTMF encoder is a direct
algebraic summation, in real time, of the amplitudes of two sine (cosine) waves of
different frequencies. i.e. pressing '1' will send a tone made by adding 1209 Hz and
697 Hz to the other end of the line.

What frequencies used for touch tones numbers

The touch tone system uses pairs of tones to represent the various keys. There is a
"low tone" and a "high tone" associated with each button (0 through 9, plus * (star)
and #. The low tones vary according to what horizontal row the tone button is in,
while the high tones correspond to the vertical column of the tone button.

The tones and assignments are as follows:

Matrix Key Board Form:

or:
1209 Hz 1336 Hz 1477 Hz 1633 Hz
 ABC DEF
697 Hz 1 2 3 A

GHI JKL MNO

770 Hz 4 5 6 B

PRS TUV WXY

852 Hz 7 8 9 C

oper
941 Hz * 0 # D

Algebric/ Mathematical Form

1 = 697+1209, 2 = 697+1336, 3 = 697+1477, 4 =770+1209, 5
=770+1336, 6 =770+1477, 7 =852+1209, 8 =852+1336, 9
=852+1477, 0 = 941+1336, * = 941+1209, # =941+1477, A =697+1633,
B =770+1633, C =852+1633, D =941+1633

When the 4 button is pressed, the 770 Hz and 1209 Hz tones are sent together from
the DTMF encoder. The DTMF decoder decodes the tone and generates the
equivalent of the key number at the output.

The tone frequencies were designed to avoid harmonics and other problems that
could arise when two tones are sent and received. Accurate transmission from the
encoder and accurate decoding on the decoder is important. They may sound rather
musical when dialed (and representations of many popular tunes are possible).
The tones should all be +/- 1.5% of nominal. The high frequency tone should be at
least as loud, and preferably louder than the low frequency. It may be as much as 4
db louder. This factor is referred to as "twist." If a Touchtone signal has +3db of
twist, then the high frequency is 3 db louder than the low frequency. Negative twist
is when the low frequency is louder.

This project we propose a unique System for Home automation utilizing

Dual Tone Multi Frequency (DTMF) that is paired with a wireless module to
provide seamless wireless control over many devices in a house. The block
diagram is a shown below. This user console has many keys , each corresponding
to the device that needs to be activated. The encoder encodes the user choice and
sends via a FM transmitter. The GSM Mobile receiver receives the modulated
signal and demodulates it and the user choice is determined by the DTMF decoder.
Based upon this the required appliance is triggered.

The aim of the proposed system is to develop a cost effective solution that will
provide controlling of home appliances remotely and enable home security against
intrusion in the absence of homeowner. The system provides availability due to
development of a low cost system. The home appliances control system with an
affordable cost was thought to be built that should be mobile providing remote
access to the appliances and allowing home security. Though devices connected as
home and office appliances consume electrical power. These devices should be
controlled as well as turn on/off if required. Most of the times it was done
manually. Now it is a necessity to control devices more effectively and efficiently
at any time from anywhere.
In this system, we are going to develop a cellular phone based home/office
appliance. This system is designed for controlling arbitrary devices, it includes a
cell phone (not included with the system kit, end user has to connect his/her cell
phone to the system) which is connect to the system via head set. To active the
cellular phone unit on the system a call is to be made and as the call is answered, in
response the user would enter a two/three digit password to access the system to
control devices. As the caller press the specific password, it results in turning ON
or OFF specific device. The device switching is achieved by Relays. Security
preserved because these dedicated passwords owned and known by selected
persons only. For instance, our system contains an alarm unit giving the user a
remote on/off mechanism, which is capable of informing up to five different
numbers over telephony network about the nature of the event.
The underlying principle mainly relies up on the ability of DTMF (Double Tune
Multi Frequency) ICs to generate DTMF corresponding to a number or code in the
number pad and to detect the same number or code from its corresponding DTMF.
In detail, a DTMF generator generates two frequencies corresponding to a number
or code in the number pad which will be transmitted through the communication
networks, constituting the transmitter section which is simply equivalent to a
mobile set. In the receiver part, the DTMF detector IC, for example IC MT 8870
detects the number or code represented by DTMF back, through the inspection of
the two transmitted frequencies. The DTMF frequencies representing the number/
codes are shown above.
CHAPTER2

INTRODUCTION TO SOLAR PV POWER GENERATION

TECHNOLOGY

The Sun is a direct source of energy

Using renewable energy technologies, we can convert the solar energy into
electricity

Solar powered lighting is a relatively simple concept in a basic way the system
operates like a bank account withdrawal from the battery to power the light source
must be compensated for by commensurate deposits of energy from the solar
panels. As long as the system is designed so deposits exceed withdrawals on an
average daily basis, the battery remains charged and light source is reliably
powered.

 The sun provides a direct source of energy to the solar Panel.

 The Battery is recharged during the day by direct –current (DC) electricity
produced by the solar panel.
 Electronic controls are used between the battery, light source and solar
panels to protect the battery from over charge and discharge and to control
the timing and operation of the light.
 INDIVIDUAL BLOCK EXPLANATION

III (a) RESISTOR

A resistor is a two-terminal electronic component designed to oppose an electric

current by producing a voltage drop between its terminals in proportion to the
current, that is, in accordance with Ohm's law:
V = IR
Resistors are used as part of electrical networks and electronic circuits. They are
extremely commonplace in most electronic equipment. Practical resistors can be
made of various compounds and films, as well as resistance wire (wire made of a
high-resistivity alloy, such as nickel/chrome). The primary characteristics of
resistors are their resistance and the power they can dissipate. Other characteristics
include temperature coefficient, noise, and inductance. Less well-known is critical
resistance, the value below which power dissipation limits the maximum permitted
current flow, and above which the limit is applied voltage. Critical resistance
depends upon the materials constituting the resistor as well as its physical
dimensions; it's determined by design.
Resistors can be integrated into hybrid and printed circuits, as well as integrated
circuits. Size, and position of leads (or terminals) are relevant to equipment
designers; resistors must be physically large enough not to overheat when
dissipating their power.
III (b) CAPACITOR

A capacitor or condenser is a passive electronic component consisting

of a pair of conductors separated by a dielectric. When a voltage potential
difference exists between the conductors, an electric field is present in the
dielectric. This field stores energy and produces a mechanical force between the
plates. The effect is greatest between wide, flat, parallel, narrowly separated
conductors.
An ideal capacitor is characterized by a single constant value,
capacitance, which is measured in farads. This is the ratio of the electric charge on
each conductor to the potential difference between them. In practice, the dielectric
between the plates passes a small amount of leakage current. The conductors and
leads introduce an equivalent series resistance and the dielectric has an electric
field strength limit resulting in a breakdown voltage.
The properties of capacitors in a circuit may determine the resonant frequency and
quality factor of a resonant circuit, power dissipation and operating frequency in a
digital logic circuit, energy capacity in a high-power system, and many other
important aspects.
III (C) RECTIFIER AND FILTER

A rectifier is an electrical device that converts alternating current

(AC), which periodically reverses direction, to direct current (DC), current that
flows in only one direction, a process known as rectification. Rectifiers have many
uses including as components of power supplies and as detectors of radio signals.
Rectifiers may be made of solid state diodes, vacuum tube diodes, mercury arc
valves, and other components. The output from the transformer is fed to the
rectifier. It converts A.C. into pulsating D.C. The rectifier may be a half wave or a
full wave rectifier. In this project, a bridge rectifier is used because of its merits
like good stability and full wave rectification. In positive half cycle only two
diodes ( 1 set of parallel diodes) will conduct, in negative half cycle remaining two
diodes will conduct and they will conduct only in forward bias only.
Capacitive filter is used in this project. It removes the ripples
from the output of rectifier and smoothens the D.C. Output received from this
filter is constant until the mains voltage and load is maintained constant. However,
if either of the two is varied, D.C. voltage received at this point changes. Therefore
a regulator is applied at the output stage.The simple capacitor filter is the most
basic type of power supply filter. The use of this filter is very limited. It is
sometimes used on extremely high-voltage, low-current power supplies for
cathode-ray and similar electron tubes that require very little load current from the
supply. This filter is also used in circuits where the power-supply ripple frequency
is not critical and can be relatively high. Below figure can show how the capacitor
changes and discharges.
III (d) LED :

A light-emitting diode (LED) is a semiconductor light source. LEDs are

used as indicator lamps in many devices, and are increasingly used for lighting.
When a light-emitting diode is forward biased (switched on), electrons are able to
recombine with holes within the device, releasing energy in the form of photons.
This effect is called electroluminescence and the color of the light (corresponding
to the energy of the photon) is determined by the energy gap of the semiconductor.
An LED is often small in area (less than 1 mm2), and integrated optical
components may be used to shape its radiation pattern. LEDs present many
advantages over incandescent light sources including lower energy consumption,
longer lifetime, improved robustness, smaller size, faster switching, and greater
durability and reliability.
III (e) PUSH BUTTON

A push-button (also spelled pushbutton) or simply button is a simple

switch mechanism for controlling some aspect of a machine or a process. Buttons
are typically made out of hard material, usually plastic or metal. The surface is
usually flat or shaped to accommodate the human finger or hand, so as to be easily
depressed or pushed. Buttons are most often biased switches, though even many
un-biased buttons (due to their physical nature) require a spring to return to their
un-pushed state. Different people use different terms for the "pushing" of the
button, such as press, depress, mash, and punch.
 In industrial and commercial applications push buttons can be linked
together by a mechanical linkage so that the act of pushing one button causes the
other button to be released. In this way, a stop button can "force" a start button to
be released. This method of linkage is used in simple manual operations in which
the machine or process have no electrical circuits for control. Pushbuttons are often
color-coded to associate them with their function so that the operator will not push
the wrong button in error. Commonly used colors are red for stopping the machine
or process and green for starting the machine or process.

Red pushbuttons can also have large heads (mushroom shaped) for
easy operation and to facilitate the stopping of a machine. These pushbuttons are
called emergency stop buttons and are mandated by the electrical code in many
jurisdictions for increased safety. This large mushroom shape can also be found in
buttons for use with operators who need to wear gloves for their work and could
not actuate a regular flush-mounted push button. As an aid for operators and users
in industrial or commercial applications, a pilot light is commonly added to draw
the attention of the user and to provide feedback if the button is pushed. Typically
this light is included into the center of the pushbutton and a lens replaces the
pushbutton hard center disk.

(Push ON Button)

III (f) LDR (LIGHT DEPENDENT RESISTOR)

 A light dependent resisitor is a resisitor whose resistance changes with
the intensity of incident light. The working principle of light dependent resistor is
photoelectric effect. A light dependent resisitor is made of a high resistance
semiconductor. If the energy of the incident light is greater than the band gap of
the semiconductor, electron -hole pairs are generated. The photogenerated
electron-hole pair transits the device giving rise to photoconductivity. The essential
elements of a photoconductive cell are the ceramic substrate, a layer of photo-
conductive material, metallic electrodes to connect the device into a circuit and a
moisture resistant enclosed Light sensitive material is arranged in the form of a
long strip, zigzag across a disc shaped base with protective sides. For additional
protection, a glass or plastic cover may be included. The two ends of the strip are
brought out to connecting pins below the base as shown below.

Top view Side view

The commercial photoconductive materials include cadmium

Sulphide (CdS), cadmium Selenide (CdSe), Lead Sulfide (PbS) and Indium
antimonide (InSb) etc., There is large change in the resistance of a cadmium
selenide cell with changes in ambient temperature, but the resistance of cadmium
sulphide remains relatively stable. Moreover, the spectral response of a cadmium
sulphide cell closely matches to that of a human eye. Hence, LDR is used in
applications where human vision is a factor such as street light control or automatic
iris control for cameras. The above mentioned features drive us to opt for CdS
based LDR in our electronic circuit for Automatic street light controller.

III (g) VOLTAGE REGULATOR (7805 AND 7812)

The LM78XX/LM78XXA series of three-terminal positive regulators

are available in the TO-220/D-PAK package and with several fixed output
voltages, making them useful in a Wide range of applications. Each type employs
internal current limiting, thermal shutdown and safe operating area protection,
making it essentially indestructible. If adequate heat sinking is provided, they can
deliver over 1A output Current. Although designed primarily as fixed voltage
regulators, these devices can be used with external components to obtain adjustable
voltages and currents.

FEATURES:

• Output Current up to 1A.

• Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V.
• Thermal Overload Protection.
• Short Circuit Protection.
• Output Transistor Safe Operating Area Protection.

INTERNAL BLOCK DIAGRAM

III (h) TRANSISTOR

BC547 (NPN) AND BC557 (PNP) :

Transistors are three terminal active devices made from different semiconductor
materials that can act as either an insulator or a conductor by the application of a
small signal voltage. The transistor's ability to change between these two states
enables it to have two basic functions: switching or amplification. Then bipolar
transistors have the ability to operate within three different regions:

 Active Region - the transistor operates as an amplifier and IC = β IB

 Saturation - the transistor is fully-ON operating as a switch and

IC = Isaturation
 Cut-off - the transistor is "fully-OFF" operating as a switch and IC = 0
 The word Transistor is an acronym, and is a combination of the words
Transfer Varistor used to describe their mode of operation way back in their early
days of development. There are two basic types of bipolar transistor construction,
NPN and PNP, which basically describes the physical arrangement of the P-type
and N-type semiconductor materials from which they are made. A transistor is
made of a solid piece of semiconductor material, with at least three terminals for
connection to an external circuit. The Bipolar Junction Transistor basic
construction consists of two PN-junctions producing three connecting terminals
with each terminal being given a name to identify it from the other two. These
three terminals are known and labeled as the Emitter (E), the Base (B) and the
Collector (C) respectively.

Bipolar Transistors are current regulating devices that control the

amount of current flowing through them in proportion to the amount of biasing
voltage applied to their base terminal acting like a current-controlled switch. The
principle of operation of the two transistor types NPN and PNP, is exactly the same
the only difference being in their biasing and the polarity of the power supply for
each type.
Project Picture
CHAPTER

CONCLUSION

This project is working satisfactorily in the laboratory condition. Control of vehicle

using DTMF link provides more advantages for Agribot and unmanned vehicle
applications
5.2 FUTURE EXPANSION
This project can be expanded in the following direction,
1. The project may be extended for designing Noninvasive Biological
Sensor System for Detection of Drunk Driving and Fuel monitoring in
vehicle
2. This setup can be interfaced to computer network and keep a log on the
faults.
3. The Intelligent car project can be designed with a PLC based system for
more reliable and better output with time efficiency.
5.3 REFERENCES
TEXT BOOKS REFERED:
1. “The 8051 Microcontroller and Embedded systems” by Muhammad Ali Mazidi
and Janice Gillispie Mazidi , Pearson Education.
2. ATMEL 89S52 Data Sheets.
WEBSITES
www.atmel.com
www.beyondlogic.org
www.wikipedia.org
www.howstuffworks.com
www.alldatasheets.com