CHAPTER 1 INTRODUCTION

1.1 History :
Given the definition of embedded systems earlier is this chapter; the first such systems could not possibly have appeared before 1971. That was the year Intel introduced the world's first microprocessor. This chip, the 4004, was designed for use in a line of business calculators produced by the Japanese Company Busicom. In 1969, Busicom asked Intel to design a set of custom integrated circuits-one for each of their new calculator models. The 4004 was Intel's response rather than design custom hardware for each calculator, Intel proposed a general-purpose circuit that could be used throughout the entire line of calculators. Intel's idea was that the software would give each calculator its unique set of features. The microcontroller was an overnight success, and its use increased steadily over the next decade. Early embedded applications included unmanned space probes, computerized traffic lights, and aircraft flight control systems. In the 1980s, embedded systems quietly rode the waves of the microcomputer age and brought microprocessors into every part of our kitchens (bread machines, food processors, and microwave ovens), living rooms (televisions, stereos, and remote controls), and workplaces (fax machines, pagers, laser printers, cash registers, and credit card readers). It seems inevitable hat the number of embedded systems will continue to increase rapidly. Already there are promising new embedded devices that have enormous market potential; light switches and thermostats that can be central computer, intelligent air-bag systems that don't inflate when children or small adults are present, pal-sized electronic organizers and personal digital assistants (PDAs), digital cameras, and dashboard navigation systems. Clearly, individuals who possess the skills and desire to design the next generation of embedded systems will be in demand for quite some time.

1.2 Embedded System:

1

An Embedded System is a combination of computer hardware and software, and perhaps additional mechanical or other parts, designed to perform a specific function. A good example is the microwave oven. Almost every household has one, and tens of millions of them are used everyday, but very few people realize that a processor and software are involved in the preparation of their lunch or dinner. This is in direct contrast to the personal computer in the family room. It too is comprised of computer hardware and software and mechanical components (disk drives, for example). However, a personal computer is not designed to perform a specific function rather; it is able to do many different things. Many people use the term general-purpose computer to make this distinction clear. As shipped, a general-purpose computer is a blank slate; the manufacturer does not know what the customer will do wish it. One customer may use it for a network file server another may use it exclusively for playing games, and a third may use it to write the next great American novel. Frequently, an embedded system is a component within some larger system. For example, modern cars and trucks contain many embedded systems. One embedded system controls the antilock brakes, other monitors and controls the vehicle's emissions, and a third displays information on the dashboard. In some cases, these embedded systems are connected by some sort of a communication network, but that is certainly not a requirement. At the possible risk of confusing you, it is important to point out that a general-purpose computer is itself made up of numerous embedded systems. For example, my computer consists of a keyboard, mouse, video card, modem, hard drive, floppy drive, and sound card-each of which is an embedded system. Each of these devices contains a processor and software and is designed to perform a specific function. For example, the modem is designed to send and receive digital data over analog telephone line. That's it and all of the other devices can be summarized in a single sentence as well. If an embedded system is designed well, the existence of the processor and software could be completely unnoticed by the user of the device. Such is the case for a microwave oven, VCR, or alarm clock. In some cases, it would even be possible to build an equivalent device that does not contain the processor and software. This could be done by replacing the combination with a

custom integrated circuit that performs the same functions in hardware. However, a lot of flexibility is lost when a design is hard-cooled in this way. It is mush easier, and cheaper, to change a few lines of software than to redesign a piece of custom hardware.

1.3 Real Time Systems:

One subclass of embedded is worthy of an introduction at this point. As commonly defined, a real-time system is a computer system that has timing constraints. In other words, a real-time system is partly specified in terms of its ability to make certain calculations or decisions in a timely manner. These important calculations are said to have deadlines for completion. And, for all practical purposes, a missed deadline is just as bad as a wrong answer. The issue of what if a deadline is missed is a crucial one. For example, if the real-time system is part of an airplane's flight control system, it is possible for the lives of the passengers and crew to be endangered by a single missed deadline. However, if instead the system is involved in satellite communication, the damage could be limited to a single corrupt data packet. The more severe the consequences, the more likely it will be said that the deadline is "hard" and thus, the system is a hard real-time system. Real-time systems at the other end of this discussion are said to have "soft" deadlines. All of the topics and examples presented in this book are applicable to the designers of realtime system who is more delight in his work. He must guarantee reliable operation of the software and hardware under all the possible conditions and to the degree that human lives depend upon three system's proper execution, engineering calculations and descriptive paperwork.

CHAPTER 2 ROBOT
3

2.1 INTRODUCTION:
A Robot is a mechatronics device which also includes resourcefulness or autonomy. A device with autonomy does its thing "on its own" without a human directly guiding it moment-bymoment. Some authors would contend that all mechatronic devices are robots, and that this book's restriction on robot entails only specialized software. Robotics can be described as the current pinnacle of technical development. Robotics is a confluence science using the continuing advancements of mechanical engineering, material science, sensor fabrication, manufacturing techniques, and advanced algorithms. The study and practice of robotics will expose a dabbler or professional to hundreds of different avenues of study. For some, the romanticism of robotics brings forth an almost magical curiosity of the world leading to creation of amazing machines. A journey of a lifetime awaits in robotics. Robotics can be defined as the science or study of the technology primarily associated with the design, fabrication, theory, and application of robots. While other fields contribute the mathematics, the techniques, and the components, robotics creates the magical end product. The practical applications of robots drive development of robotics and drive advancements in other sciences in turn. Crafters and researchers in robotics study more than just robotics. Robot Control using RF is an exclusive project where the direction of the movement of Robot can be changed using wireless technologies. The Robot will be placed different from that of from where it is controlled. This project can also be carried out using wiring processes. But the main disadvantage when we go for wiring is that, data transmission and reception may not be perfect and the data may be lost if the wiring is not done properly. Thus, the Robot movement is controlled using wireless concept in this project. In this project, the Robot movement is controlled by giving commands from PC and this information will be passed to the Robot in a wireless fashion.

2.2Wireless Communication
Wireless communication, as the term implies, allows information to be exchanged between two devices without the use of wire or cable. A wireless keyboard sends information to the

computer without the use of a keyboard cable; a cellular telephone sends information to another telephone without the use of a telephone cable. Changing television channels, opening and closing a garage door, and transferring a file from one computer to another can all be accomplished using wireless technology. In all such cases, information is being transmitted and received using electromagnetic energy, also referred to as electromagnetic radiation. One of the most familiar sources of electromagnetic radiation is the sun; other common sources include TV and radio signals, light bulbs and microwaves. To provide background information in understanding wireless technology, the electromagnetic spectrum is first presented and some basic terminology defined.

2.3: RF Transmitter :
RF Encoder HT640

Block Diagram: Transmitter Step down T/F

RF Transmitter Regulator STTPower supply to all - 433

Bridge Rectifier SW4 SW3 SW2

Filter Circuit

sections

2.4 : RF Receiver :

Wireless Camera with voice transmission

H Bridge Driver RF Receiver RF Decoder

Motor - I

Motor - II 89S52 MCU

11.0592MH z Crystal Oscillator Power On Reset

Metal Detector

Buzzer

Temperature sensor

DC Motor (Sprinkler)

Step down T/F

Bridge Rectifier

Filter Circuit

Regulator

Power supply to all sections

Block Diagram: Receiver

CHAPTER 3 MICRO CONTROLLERS

Microprocessors and microcontrollers are widely used in embedded systems products. Microcontroller is a programmable device. A microcontroller has a CPU in addition to a fixed amount of RAM, ROM, I/O ports and a timer embedded all on a single chip. The fixed amount of on-chip ROM, RAM and number of I/O ports in microcontrollers makes them ideal for many applications in which cost and space are critical. The Intel 8051 is Harvard architecture, single chip microcontroller (C) which was developed by Intel in 1980 for use in embedded systems. It was popular in the 1980s and early 1990s, but today it has largely been superseded by a vast range of enhanced devices with 8051compatible processor cores that are manufactured by more than 20 independent manufacturers including Atmel, Infineon Technologies and Maxim Integrated Products. 8051 is an 8-bit processor, meaning that the CPU can work on only 8 bits of data at a time. Data larger than 8 bits has to be broken into 8-bit pieces to be processed by the CPU. 8051 is available in different memory types such as UV-EPROM, Flash and NV-RAM. The present project is implemented on Keil Uvision. In order to program the device, proload tool has been used to burn the program onto the microcontroller.

3.1 FEATURES OF AT89S52:

8K Bytes of Re-programmable Flash Memory. RAM is 256 bytes. 2.7V to 6V Operating Range. Fully Static Operation: 0 Hz to 24 MHz. Two-level Program Memory Lock.

 128 x 8-bit Internal RAM. 32 Programmable I/O Lines. Three 16-bit Timer/Counters. Eight Interrupt Sources. Programmable Serial UART Channel. Low-power Idle and Power-down Modes.

3.2 Pin Diagram :

3.3 Architecture:

3.4 Description :
Vcc Pin 40 provides supply voltage to the chip. The voltage source is +5V. GND Pin 20 is the ground. XTAL1 and XTAL2 XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier that can be configured for use as an on-chip oscillator, as shown in Figure 11. Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven, as shown in the below figure. There are no requirements on the duty cycle of the external clock signal, since the input to the internal clocking circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage high and low time specifications must be observed.

Fig: Oscillator Connections

C1, C2 = 30 pF 10 pF for Crystals

10

= 40 pF 10 pF for Ceramic Resonators

Fig: External Clock Drive Configuration

RESET Pin9 is the reset pin. It is an input and is active high. Upon applying a high pulse to this pin, the microcontroller will reset and terminate all the activities. This is often referred to as a power-on reset. EA (External access) Pin 31 is EA. It is an active low signal. It is an input pin and must be

connected to either Vcc or GND but it cannot be left unconnected.

11

The 8051 family members all come with on-chip ROM to store programs. In such cases, the EA pin is connected to Vcc. If the code is stored on an external ROM, the EA pin must be connected to GND to indicate that the code is stored externally. PSEN (Program store enable) This is an output pin. ALE (Address latch enable) This is an output pin and is active high. Ports 0, 1, 2 and 3 The four ports P0, P1, P2 and P3 each use 8 pins, making them 8-bit ports. All the ports upon RESET are configured as input, since P0-P3 have value FFH on them. Port 0(P0) Port 0 is also designated as AD0-AD7, allowing it to be used for both address and

data. ALE indicates if P0 has address or data. When ALE=0, it provides data D0-D7, but when ALE=1, it has address A0-A7. Therefore, ALE is used for demultiplexing address and data with the help of an internal latch. When there is no external memory connection, the pins of P0 must be connected to a 10K-ohm pull-up resistor. This is due to the fact that P0 is an open drain. With external pull-up resistors connected to P0, it can be used as a simple I/O, just like P1 and P2. But the ports P1, P2 and P3 do not need any pull-up resistors since they already have pull-up resistors internally. Upon reset, ports P1, P2 and P3 are configured as input ports. Port 1 and Port 2 With no external memory connection, both P1 and P2 are used as simple I/O.

With external memory connections, port 2 must be used along with P0 to provide the 16-bit address for the external memory. Port 2 is designated as A8-A15 indicating its dual function. While P0 provides the lower 8 bits via A0-A7, it is the job of P2 to provide bits A8-A15 of the address. Port 3 Port 3 occupies a total of 8 pins, pins 10 through 17. It can be used as input or output. P3 does not need any pull-up resistors, the same as port 1 and port 2. Port 3 has an additional function of providing some extremely important signals such as interrupts.

12

Table: Port 3 Alternate Functions ALE/PROG Address Latch Enable is an output pulse for latching the low byte of the address

during accesses to external memory. This pin is also the program pulse input (PROG) during Flash programming. In normal operation, ALE is emitted at a constant rate of 1/6 the oscillator frequency and may be used for external timing or clocking purposes. If desired, ALE operation can be disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is active only during a MOVX or MOVC instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is in external execution mode. PSEN (Program Store Enable) It is the read strobe to external program memory. When the

AT89S8252 is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory. EA/VPP (External Access Enable) EA must be strapped to GND in order to enable the device to fetch code from external program memory locations starting at 0000H up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset. EA should be

13

strapped to VCC for internal program executions. This pin also receives the 12-volt programming enable voltage (VPP) during Flash programming when 12-volt programming is selected. Ports 0, 1, 2 and 3 The four ports P0, P1, P2 and P3 each use 8 pins, making them 8-bit ports. All the ports upon RESET are configured as input, since P0-P3 have value FFH on them. Port 0(P0) Port 0 is also designated as AD0-AD7, allowing it to be used for both address and

data. ALE indicates if P0 has address or data. When ALE=0, it provides data D0-D7, but when ALE=1, it has address A0-A7. Therefore, ALE is used for de multiplexing address and data with the help of an internal latch. When there is no external memory connection, the pins of P0 must be connected to a 10K-ohm pull-up resistor. This is due to the fact that P0 is an open drain. With external pull-up resistors connected to P0, it can be used as a simple I/O, just like P1 and P2. But the ports P1, P2 and P3 do not need any pull-up resistors since they already have pull-up resistors internally. Upon reset, ports P1, P2 and P3 are configured as input ports. Port 1 Port 1 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 1 output buffers

can sink/source four TTL inputs. When 1s are written to Port 1 pins, they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally being pulled low will source current because of the internal pull-ups. Some Port 1 pins provide additional functions. P1.0 and P1.1 can be configured to be the timer/counter 2 external count input (P1.0/T2) and the timer/counter 2 trigger input (P1.1/T2EX), respectively. Furthermore, P1.4, P1.5, P1.6, and P1.7 can be configured as the SPI slave port select, data input/output and shift clock input/output pins. Port 1 also receives the low-order address bytes during Flash programming and verification.

14

Table: Port1 Alternate functions Programmable Clock Out: A 50% duty cycle clock can be programmed to come out on P1.0. This pin, besides being a regular I/0 pin, has two alternate functions. It can be programmed to input the external clock for Timer/Counter 2 or to output a 50% duty cycle clock ranging from 61 Hz to 4 MHz (for a 16-MHz operating frequency). Port 2 With no external memory connection, P2 are used as simple I/O. With external memory connections, port 2 must be used along with P0 to provide the 16-bit address for the external memory. Port 2 is designated as A8-A15 indicating its dual function. While P0 provides the lower 8 bits via A0-A7, it is the job of P2 to provide bits A8-A15 of the address. Port 2 also receives the high-order address bits and some control signals during Flash programming and verification. Port 3 Port 3 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 3 output buffers can sink/source four TTL inputs. When 1s are written to Port 3 pins, they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 3 pins that are externally being pulled low will source current because of the pull-ups. Port 3 receives some control signals for Flash programming and verification.

15

Port 3 also serves the functions of various special features of the AT89S8252, as shown in the following table.

Table: Port 3 Alternate functions

16

CHAPTER 4 COMPONENTS
4.1 RESISTOR:
Resistors "Resist" the flow of electrical current. The higher the value of resistance (measured in ohms) the lower the current will be. Resistance is the property of a component which restricts the flow of electric current. Energy is used up as the voltage across the component drives the current through it and this energy appears as heat in the component.

Colour Code:

17

4.2 CAPACITOR:
Capacitors store electric charge. They are used with resistors in timing circuits because it takes time for a capacitor to fill with charge. They are used to smooth varying DC supplies by acting as a reservoir of charge. They are also used in filter circuits because capacitors easily pass AC (changing) signals but they block DC (constant) signals.

Circuit symbol: Electrolytic capacitors are polarized and they must be connected the correct way round, at least one of their leads will be marked + or -.

Examples:

4.3 DIODES:
Diodes allow electricity to flow in only one direction. The arrow of the circuit symbol shows the direction in which the current can flow. Diodes are the electrical version of a valve and early diodes were actually called valves.

Circuit symbol:

18

Diodes must be connected the correct way round, the diagram may be labeled a or + for anode and k or - for cathode (yes, it really is k, not c, for cathode!). The cathode is marked by a line painted on the body. Diodes are labeled with their code in print; you may need a magnifying glass to read this on small diodes. small signal

Example:

4.4 LIGHT-EMITTING DIODE (LED):

The longer lead is the anode (+) and the shorter lead is the cathode (&minus). In the schematic symbol for an LED (bottom), the anode is on the left and the cathode is on the right. Light emitting diodes are elements for light signalization in electronics.

19

They are manufactured in different shapes, colors and sizes. For their low price, low consumption and simple use, they have almost completely pushed aside other light sources- bulbs at first place.

It is important to know that each diode will be immediately destroyed unless its current is limited. This means that a conductor must be connected in parallel to a diode. In order to correctly determine value of this conductor, it is necessary to know diodes voltage drop in forward direction, which depends on what material a diode is made of and what colors it is. Values typical for the most frequently used diodes are shown in table below: As seen, there are three main types of LEDs. Standard ones get full brightness at current of 20mA. Low Current diodes get full brightness at ten times lower current while Super Bright diodes produce more intensive light than Standard ones. Since the 8051 microcontrollers can provide only low input current and since their pins are configured as outputs when voltage level on them is equal to 0, direct confectioning to LEDs is carried out as it is shown on figure (Low current LED, cathode is connected to output pin).

20

4.5 Switches and Pushbuttons:

A push button switch is used to either close or open an electrical circuit depending on the application. Push button switches are used in various applications such as industrial equipment control handles, outdoor controls, mobile communication terminals, and medical equipment, and etc. Push button switches generally include a push button disposed within housing. The push button may be depressed to cause movement of the push button relative to the housing for directly or indirectly changing the state of an electrical contact to open or close the contact. Also included in a pushbutton switch may be an actuator, driver, or plunger of some type that is situated within a switch housing having at least two contacts in communication with an electrical circuit within which the switch is incorporated.

Typical actuators used for contact switches include spring loaded force cap actuators that reciprocate within a sleeve disposed within the canister. The actuator is typically coupled to the movement of the cap assembly, such that the actuator translates in a direction that is parallel with the cap. A push button switch for a data input unit for a mobile communication device such as a cellular phone, a key board for a personal computer or the like is generally constructed by mounting a cover member directly on a circuit board. Printed circuit board (PCB) mounted pushbutton switches are an inexpensive means of providing an operator interface on industrial control products. In such push button switches, a substrate which includes a plurality of movable sections is formed of a rubber elastomeric. The key top is formed on a top surface thereof with a figure, a character or the like by printing, to thereby provide a cover member. Push button switches incorporating lighted displays have been used in a variety of applications. Such switches are typically comprised of a pushbutton, an opaque legend plate, and a back light to illuminate the legend plate.
21

4.6 Voltage Regulator:

As the name itself implies, it regulates the input applied to it. A voltage regulator is an electrical regulator designed to automatically maintain a constant voltage level. In this project, power supply of 5V and 12V are required. In order to obtain these voltage levels, 7805 and 7812 voltage regulators are to be used. The first number 78 represents positive supply and the numbers 05, 12 represent the required output voltage levels.

Fig: 3.7 Voltage Regulator 7805

Fig: 3.8 Block Diagram of 7805

Regulated Power Supply: Hence entire power supply unit comprises the step-down transformer, bridge rectifier, capacitor filter and 7805 voltage regulator to produce a regulated 5VD.C output voltage.

22

Fig: 3.9 power supply

4.7 POWER SUPPLY

The input to the circuit is applied from the regulated power supply. The a.c. input i.e., 230V from the mains supply is step down by the transformer to 12V and is fed to a rectifier. The output obtained from the rectifier is a pulsating d.c voltage. So in order to get a pure d.c voltage, the output voltage from the rectifier is fed to a filter to remove any a.c components present even after rectification. Now, this voltage is given to a voltage regulator to obtain a pure constant dc voltage.

4.8 DC MOTOR
The speed of a DC motor is directly proportional to the supply voltage, so if we reduce the supply voltage from 12 Volts to 6 Volts, the motor will run at half the speed. How can this be achieved when the battery is fixed at 12 Volts? The speed controller works by varying the average voltage sent to the motor. It could do this by simply adjusting the voltage sent to the motor, but this

23

is quite inefficient to do. A better way is to switch the motor's supply on and off very quickly. If the switching is fast enough, the motor doesn't notice it, it only notices the average effect. When you watch a film in the cinema, or the television, what you are actually seeing is a series of fixed pictures, which change rapidly enough that your eyes just see the average effect movement. Your brain fills in the gaps to give an average effect. Now imagine a light bulb with a switch. When you close the switch, the bulb goes on and is at full brightness, say 100 Watts. When you open the switch it goes off (0 Watts). Now if you close the switch for a fraction of a second, then open it for the same amount of time, the filament won't have time to cool down and heat up, and you will just get an average glow of 50 Watts. This is how lamp dimmers work, and the same principle is used by speed controllers to drive a motor. When the switch is closed, the motor sees 12 Volts, and when it is open it sees 0 Volts. If the switch is open for the same amount of time as it is closed, the motor will see an average of 6 Volts, and will run more slowly accordingly. The graph below shows the speed of a motor that is being turned on and off

CHAPTER 5 H-BRIDGE
An H-bridge is an electronic circuit which enables DC electric motors to be run forwards or backwards. These circuits are often used in robotics. H-bridges are available as integrated circuits, or can be built from discrete components.

24

The two basic states of a H-bridge. The term "H-bridge" is derived from the typical graphical representation of such a circuit. An H-bridge is built with four switches (solid-state or mechanical). When the switches S1 and S4 (according to the first figure) are closed (and S2 and S3 are open) a positive voltage will be applied across the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this voltage is reversed, allowing reverse operation of the motor. Using the nomenclature above, the switches S1 and S2 should never be closed at the same time, as this would cause a short circuit on the input voltage source. The same applies to the switches S3 and S4. This condition is known as shoot-through.

5.1 Operation
The H-Bridge arrangement is generally used to reverse the polarity of the motor, but can also be used to 'brake' the motor, where the motor comes to a sudden stop, as the motors terminals are shorted, or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the circuit. The following table summarizes operation.

S1 S2 S3 S4

Result Motor moves right

1 0 0 1

0 1 1 0 Motor moves left 0 0 0 0 Motor free runs

25

0 1 0 1 Motor brakes

5.2 Features:
600mA OUTPUT CURRENT CAPABILITY PER CHANNEL 1.2A PEAK OUTPUT CURRENT (non repetitive) PER CHANNEL ENABLE FACILITY OVERTEMPERATURE PROTECTION LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V (HIGH NOISE IMMUNITY) INTERNAL CLAMP DIODES

26

CHAPTER 6 DTMF Decoder

6.1 Introduction :
Dual-tone multi-frequency signaling (DTMF) is used for telecommunication signaling over analog telephone lines in the voice-frequency band between telephone handsets and

27

other communications devices and the switching center. The version of DTMF that is used in pushbutton telephones for tone dialing is known as Touch-Tone.

6.2 DTMF Generation & Detection :

28

6.3
Complete DTMF Receiver Low power consumption Internal gain setting amplifier Central Office quality Power down mode Inhibit mode Backward compatible

Features :

29

CHAPTER 7 SOFT WARES

7.1 KEIL SOFTWARE:
Keil compiler is a software used where the machine language code is written and compiled. After compilation, the machine source code is converted into hex code which is to be dumped into the microcontroller for further processing. Keil compiler also supports C language code.

7.2 PROLOAD:
Proload is a software which accepts only hex files. Once the machine code is converted into hex code, that hex code has to be dumped into the microcontroller placed in the programmer kit and this is done by the Proload. Programmer kit contains a microcontroller on it other than the one which is to be programmed. This microcontroller has a program in it written in such a way that

30

it accepts the hex file from the keil compiler and dumps this hex file into the microcontroller which is to be programmed. As this programmer kit requires power supply to be operated, this power supply is given from the power supply circuit designed above. It should be noted that this programmer kit contains a power supply section in the board itself but in order to switch on that power supply, a source is required. Thus this is accomplished from the power supply board with an output of 12volts or from an adapter connected to 230 V AC.

31

CHAPTER 8 CODE
#include<reg52.h> #define dtmfdata P1 void stop(void); void forward(void); void left(void); void right(void); void backward(void); void main() { dtmfdata=0xff; P0=0; P3=0; while(1) { if(dtmfdata==0x0f) { while(dtmfdata==0x0f) { stop(); } } if(dtmfdata==0x0e) { while(dtmfdata==0x0e) { forward(); } } if(dtmfdata==0x0d) { while(dtmfdata==0x0d) { left(); } } if(dtmfdata==0x0b) { while(dtmfdata==0x0b)
32

{ right(); } } if(dtmfdata==0x07) { while(dtmfdata==0x07) { backward(); } } } } void stop(void) { P0=0x00; P3=0x00; } void forward(void) { P0=0xCA; P3=0; } void left(void) { P0=0x42; //P3=0x42; } void right(void) { P0=0x88; // P3=0x88; } void backward(void) { P3=0xCA; P0=0; }

33

CHAPTER 9 WORKING OF ROBOTIC BOAT

By using DTMF (Dual Tone Multi Frequency) the robot will be moving on water remotely. The direction of the robot can be controlled by DTMF. This can be moved forward, backward direction.

Also this robot can take sharp turnings towards left and right directions.

This project uses AT89S52 MCU as its controller.

This project uses DTMF technology for controlling Robot in a way such that near the controlling side we are provided with any type of communication device such as a mobile phone or a landline.

Now coming to the other side we are provided with the mobile phone only because a landline cannot move accordingly with the movement of the boat.

In the mobile phone we allot the number keys as our direction movements for the Robot to move.

Now when we dial the numbers in the mobile phone from the controlling side then it automatically recognizes which number has been recorded and it follows with the corresponding next step to be taken i.e., movement of the robot in water.

This Project uses DTMF Decoder which is controlled by a battery and in turn is connected to the mobile phone.
34

 This is controlled by the controller and is again connected to the driver circuit for driving the motor

35

CHAPTER 10 ADVANTAGES & APPLICATIONS

Advantages: 1. Not line of sight 2. Not blocked by common materials: can penetrate most solids and pass through walls 3. Longer range 4. Not light sensitive 5. Not as sensitive to weather/environmental conditions

Applications: 1. Can travel in Water. 2. Can be used in oceanic research centers. 3. This project is much useful for mines detection and surveillance applications.

36

CHAPTER 11 CONCLUSION
This project presents a DTMF based human less boat control for ocean research applications and it is designed and implemented with Atmel 89S52 MCU in embedded system domain. The robot is moved in particular direction using DTMF Signals and the images are captured along with the audio and images are watched on the television .Experimental work has been carried out carefully. The result shows that higher efficiency is indeed achieved using the embedded system. The proposed method is verified to be highly beneficial for the security purpose and industrial purpose. Future Scope: When the robot is moving on water surface, the system transmits images and voice signals around the robot to television at a remote place. In general trend for computer seems to be faster processing speed, greater memory speed and so on. One would assume that the robot of the future would become closer and closer to the decision-making ability of humans and also more independent. Presently the most powerful computers that can not match the mental ability of a low grade animal it will be a long time until where having conversions with androids is heir ability to walk around on two legs like humans. Indeed the human skeletal and muscular system are complicated for now, robot will most likely be manufactured for a limited number of distinct take such as painting welding or lifting.

CHAPTER 12
37

REFERENCE
1) The 8051 Microcontrollers & Embedded systems Using assembly & C by Muhammad Ali mazidi, Janice Gillispie Mazidi, Rolin D.Mckinlay, second edition. 2) Digital Fundamentals by Floyd & Jain. 3) Electronic Devices & circuits by Jacob Millman Christos C.Halkies. 4) Digital Logic & computer Design by M.Morris Mano. 5) Embedded Systems by Raj Kamal. 6) www.wikipedia.com 7) www.google.com 8) www.circuit hut.com 9) www.electrofriends.com 10) Alexander Graham Bell: The Life and Times of the Man Who Invented the Telephone.

38