1.

INTRODUCTION
A robot motion is authored using human finger. This is a user-friendly method that easily authors (creates and controls) robot motion according to the number of fingers. The effectiveness of the proposed motion authoring method is verified based on motion authoring simulation of an industrial robot. With rapid developments in today's robot technology, robots have been used in a wide range of fields. However, robots must become easier to use for general users in order to expand the scope of applications of intelligent robots in our everyday life. A number of studies are being conducted regarding new types of user-friendly and intuitive robot motion authoring that can render various motions. With the exception of language, the hand is most frequently used for human communication among our body parts such as hands, eyes, mouth, arms and legs.

1.1 BLOCK DIAGRAM DESCRIPTION

The Block Diagram of robot motion authoring using finger-cam interaction can be classified into two parts control room section and robot section. Control room section consists of a Camera, Personal Computer, AT89S51 microcontroller, Power Supply, Encoder and a RF transmitter. Camera is used to capture no. of fingers shown by the user; the captured images are processed by the PC using an image processing algorithm and detect the no. of fingers shown by the user. Detecting the no. of fingers shown by the user the PC sends a command to the microcontroller to perform a respective action. The hard ware and software can be synchronized using RS-232. The microcontroller sends this command to the robot section using RF transmitter. Encoder is used for secure transmission of data. The block diagram of control section is shown in figure 1.1.1. Robot section consists of a RF receiver, Decoder, Microcontroller, Driver unit and meaningful arrangement of DC motors. Robot section takes the command passed by the control room section using RF receiver. Decoder is used to decrypt the command passed by the control room section. Microcontroller taking the decoded command excites the DC motor for a given code operation. The block diagram of Robot section is shown in figure 1.1.2.

RF transmitt er

Encoder

Power supply

Embedded Control Platform

Figure: 1.1.1 Block Diagram of Control Room Section

Figure: 1.1.1 Block Diagram of Robot Section

1.2 CIRUIT DIAGRAM

The circuit diagrams of Control room section and Robot section are shown in the figure 1.2.1 and figure 1.2.2 respectively. The brief description of each module is explained in detailed in other sections

1 D 1 2 9 V 1 2 A C 4 7 0 u F / 2 5 V 3 4 D B 1

1 + 2 0 6 C 5 I N 7 8 0 O U T 5 G N D 1 0 0 u F /1 6 V C D 6 3 V C R 3 3 C 3 0 E

S V C C C 1

- L

X H

0 40

. 1 20

F U P P P P P P P P 0 0 0 0 0 0 0 0 . . . . . . . . 0 1 2 3 4 5 6 7 1 / / / / / / / / V 3 3A 3A 3A 3A 3A 3A 3A A S 9 8 7 6 5 4 3 2 D D D D D D D ID 2 30 41 52 63 74 85 96 P 7 G 1 5 4 3 2 1 0 R 3 1 C C V C 1 T X D 1 9 C1 0 k C 0 C 1 0 u u 4 F R 3 F U 1 1 0 T 1 I N T 2 I N 1 2 + M C C C 1 2 2 + GN D V 6 C 1 0 5 u F A X 2 3 2 O O 16 C 1 2 1 4 7U T U T 8 I 1N 3 I N C 1

T 1 T 2 R R

O O 2 1

R X D T X D

1 1 1 1 1 1 1 1 9 1

0 1 2 3 4 5 6 7

P P P P P P P P R

3 3 3 3 3 3 3 3 S A A

. . . . . . . .

0 1 2 3 4 5 6 7 T L L A

/ / / / / / / /

R T I I T T W R

V SW 0

C C2

C 1 1 X 1 C 4 3 3 P . 0 5 9 2

R ST

10uF

8K2

M 1 H9 z X T F

1 T

C 3 3 3 P

Figure: 1.2.1 Circuit diagram of Control Room Section

15

X T

3 1 XE D A / V 3 P 0 P A X LD E / P 2 R 9 O N TP O S E N N T 1 O 2 8 1 P 2 . 7 /2 A 7 1 P R 2 . 6 /2 A 6 1 PD 2 . 5 / 2 A 5 1 P 2 . 4 /2 A 4 1 P 2 . 3 /2 A 3 1 P 2 . 2 /2 A 2 1 P 2 . 1 2 / A1 9 P 2 . 0 / A 8

1 2 X D 9 R R 1 3 4 5 C

U U

T T

S E R IA L P O R T

O O O O

U U U U

T T T T

1 2 3 4

1 2 3 4 5 6 7 8

P P P P P P P P

1 1 1 1 1 1 1 1

. . . . . . . .

0 1 2 3 4 5 6 7

F 5 9 4 8 3 7 2 6 1

VCC

GND

VCC

V+

C 0 40 C

C . 1 20 1 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 T A A A L L T u F U P P P P P P P P 0 0 0 0 0 0 0 0 . . . . . . . . 0 1 2 3 4 5 6 7 / / SO 1 . . . . . . 1 3 9 3/ A 8 3/ A 7 3/ A 6 3/ A 5 3/ A 4 3/ A 3 3/ A 2 /S A 2 D3 D4 D5 D6 D7 D8 D9 I DP P O V R 0 1 2 3 4 5 6 7 9 G 1 2 3 4 5 6 7 8 9 3 1 C C

O O O O

U U U U

T T T T

1 2 3 4

1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 9

P P P P P P P P P P P P P P P P R 8 9H F X X T z T

1 1 1 1 1 1 1 1 3 3 3 3 3 3 3 3 S

. . . . . . . . . . . . . . . .

VCC

GND

V SW 0

C C2

C 1 X C 3 3 1 1 4 P . 0 5 C 3 9 3 2 3 P

1 M1

8 7 A7 6 A6 5 A5 4 A4 3 A3 2 A2 . 1 2 / 1A . 0 / A

2 2/ 2/ 2/ 2/ 2/ 2/

1 1 1 1 1 1

9 8

5 4 3 2 1 0

A A A A A A A A V H

0 1 2 3 4 5 6 7 s

3 K

A V

I N C C r

RST

10uF

8K2

- 1

Figure: 1.2.2 Circuit diagram of Robot Section

Figure: 1.2.3 Finger Recognition Process

VCC GND GND ANT

M o t o r

1 d 1d T1 O s c1 O s c1 D I N1 D 1 11 D 1 10 D 91 s D 8

8 7 V T 6 R 15 3 3 24 3 2 1 0

GND DATA DATA VCC

R X D T X D V T T E

1 1 1 1 1 1 1 1

/ / / / / / / /

E X AD XL DE N PT N T O P1 2 P R2 P D 2 P 2 P 2 P 2 2 P 2 P 2 1

R TA I I T T W R

3 1 V 3 P0 P 2 R9 E N

C 1

k U 1

R F

4 3 3 . 9 2 M H z

2. EMBEDDED SYSTEMS
2.1 EMBEDDED SYSTEMS
An embedded system is a computing system designed to perform one or a few dedicated functions with real-time computing constraints. By contrast, a general-purpose computer, such as a personal computer (PC), is designed to be flexible and to meet a wide range of end-user needs. Embedded systems control many devices in common use today.

2.2 NEED FOR EMBEDDED SYSTEMS

The uses of embedded systems are virtually limitless, because every day new products are introduced to the market that utilizes embedded computers in many ways. From implementation point of view, there is a major difference between a computer and an embedded system. Embedded systems are often required to provide Real-Time response. The main elements that make embedded systems unique are its reliability and ease in debugging.

2.3 TYPES OF EMBEDDED SYSTEMS

Based on performance, functionality, requirement the embedded systems are divided into three categories Stand Alone Embedded System Real-time embedded systems There are two types of real-time embedded systems: Hard Real-time embedded systems Soft Real Time embedded systems

Network communication embedded systems

2.4 APPLICATIONS OF EMBEDDED SYSTEMS

Office automation: At office, use systems like fax machine, modem, printer etc. Industrial automation: Today, many industries are using embedded systems for

process

control. In critical industries where human presence is avoided there we

can use robots which are programmed to do a specific operation.

Consumer applications: At home we use a number of embedded systems which

include microwave oven, remote control, vcd players, dvd players, camera etc.
Computer networking: Embedded systems are used as bridges routers etc. Tele communications: Cell phones, web cameras etc

3. POWER SUPPLY UNIT

3.1 BLOCK DIAGRAM

TRANSFOR MER

RECTIFI ER

FILTER

IC REGULATOR

LOA D

Figure: 3.1.1 Block diagram of power supply 3.1.1 WORKING PRINCIPLE The AC voltage, typically 220V rms, is connected to a transformer, which steps that ac voltage down to the level of the desired DC output. A diode rectifier then provides a fullwave rectified voltage that is initially filtered by a simple capacitor filter to produce a dc voltage. This resulting dc voltage usually has some ripple or ac voltage variation. A regulator circuit removes the ripples and also remains the same dc value even if the input dc voltage varies, or the load connected to the output dc voltage changes. 3.1.2 CIRCUIT DIAGRAM

Figure: 3.1.2.1 Circuit Diagram of Power Supply 3.1.2 .1 TRANSFORMER

The potential transformer will step down the power supply voltage (0-230V) to (06V) level. Then the secondary of the potential transformer will be connected to the precision rectifier, which is constructed with the help of opamp. The advantages of using precision rectifier are it will give peak voltage output as DC; rest of the circuits will give only RMS output. 3.1.2.2 BRIDGE RECTIFIER When four diodes are connected as shown in figure 3.1.1, the circuit is called as bridge rectifier. The input to the circuit is applied to the diagonally opposite corners of the network, and the output is taken from the remaining two corners. Let us assume that there is a positive potential, at point A and a negative potential at point B the positive potential at point A will forward bias D3 and reverse bias D4. The negative potential at point B will forward bias D1 and reverse D2. At this time D3 and D1 are forward biased and will allow current flow to pass through them; D4 and D2 are reverse biased and will block current flow. The path for current flow is from point B through D1, up through RL, through D3, through the secondary of the transformer back to point B. After one-half cycle the polarity across the secondary of the transformer reverse, forward biasing D2 and D4 and reverse biasing D1 and D3. Current flow will now be from point A through D4, up through RL, through D2, through the secondary of T1, and back to point A. The current flow through RL is always in the same direction. Since current flows through the load (RL) during both half cycles of the applied voltage, this bridge rectifier is a full-wave rectifier. One advantage of a bridge rectifier over a conventional full-wave rectifier is that with a given transformer the bridge rectifier produces a voltage output that is nearly twice that of the conventional full-wave circuit. 3.1.2.3 IC VOLTAGE REGULATORS Voltage regulators comprise a class of widely used ICs. Regulator IC units contain the circuitry for reference source, comparator amplifier, control device, and overload protection all in a single IC. IC units provide regulation of either a fixed positive voltage, a fixed negative voltage, or an adjustable set voltage. The regulators can be selected for operation with load currents from hundreds of milli amperes to tens of amperes, corresponding to power ratings from milli watts to tens of watts.

4. 8051 MICRO CONTROLLER

4.1 DESCRIPTION
The generic 8051 architecture sports a Harvard architecture, which contains two separate buses for both program and data. So, it has two distinctive memory spaces of 64K X 8 size for both program and data. It is based on an 8 bit central processing unit with an 8 bit Accumulator and another 8 bit B register as main processing blocks. Other portions of the architecture include few 8 bit and 16 bit registers and 8 bit memory locations. The following list gives the features of the 8051 architecture:
Optimized 8 bit CPU for control applications,

Extensive Boolean processing capabilities.

64K Program Memory address space. Two 16 bit timer/counters, 4 register banks. 64K Data Memory address space, 128 bytes of on chip Data Memory.

32 Bi-directional and individually addressable I/O lines.

Full Duplex UART, On-chip clock oscillator The AT89S51 is a low-power, high-performance CMOS 8-bit microcontroller with 4K bytes of In-System Programmable Flash memory. AT89S51 is a powerful microcontroller which provides a highly-flexible and cost-effective solution to many embedded control applications. The AT89S51 provides the following standard features: 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines, Watchdog timer, two data pointers, two 16-bit timer/counters, a five-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuitry.

4.2 PIN DIAGRAM

Figure: 4.2.1 Pin Diagram of 8051 4.2.1 8051 PIN FUNCTIONS

4.2.1.1 I/O PORTS (P0, P1, P2, P3) Of the 40 pins of the typical 8051, 32 of them are dedicated to I/O lines that have a one-to-one relation with SFRs P0, P1, P2, and P3. The developer may raise and lower these lines by writing 1s or 0s to the corresponding bits in the SFRs. Likewise; the current state of these lines may be read by reading the corresponding bits of the SFRs. All of the ports have internal pull-up resistors except for port 0. 4.2.1.2 PORT 0 PORT P0 (pins 32 to 39) can be used as a general purpose 8 bit port when no external memory is present, but if external memory access is required then PORT P0 acts as a multiplexed address and data bus that can be used to access external memory in conjunction with PORT P2. P0 acts as AD0-AD7, as can be seen from fig In this case, port 0 cannot be utilized for other purposes since the state of the I/O lines are constantly being modified to access external code memory. Note that there are no pull-up resistors on port 0. 4.2.1.3 PORT 1 The port P1 (Pins 1 to 8) is a general purpose input/output port which can be used for a variety of interfacing tasks. Port 1 is commonly used to interface to external hardware such as LCDs, keypads, and other devices. The other ports P0, P2 and P3 have dual roles or additional functions associated with them based upon the context of their usage. The port 1 output buffers can sink/source four TTL inputs. When 1s are written to port 1 pins are pulled high by the internal pull-ups and can be used as inputs. 4.2.1.4 PORT 2 PORT P2 (pins 21 to 28) can also be used as a general purpose 8 bit port when no external memory is present, but if external memory access is required then PORT P2 will act as an address bus in conjunction with PORT P0 to access external memory. PORT P2 acts as A8-A15, as can be seen from figure 4.2.1. 4.2.1.5 PORT 3 PORT P3 (Pins 10 to 17) acts as a normal IO port, but Port P3 has additional functions such as, serial transmit and receive pins, 2 external interrupt pins, 2 external counter inputs, read and write pins for memory access.

4.2.1.6 OSCILLATOR INPUTS (XTAL1, XTAL2)

The 8051 is typically driven by a crystal connected to pins 18 (XTAL2) and 19 (XTAL1). Common crystal frequencies are 11.0592 MHz as well as 12 MHz, although many newer derivatives are capable of accepting frequencies as high as 40 MHz. 4.2.1.7 PROGRAM STORE ENABLE (PSEN) The Program Store Enable (PSEN) line at pin 29 is exerted low automatically by the microcontroller whenever it accesses external code memory. PSEN will not be exerted by the microcontroller and will remain in a high state if your program is being executed from internal code memory.

4.3 BLOCK DIAGRAM

Figure: 4.3.1 Block Diagram of 8051 4.3.1 OSCILLATOR CHARACTERISTICS XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier which can be configured for use as an on chip oscillator. 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. 4.3.2 8051 CLOCK 8051 has an on-chip oscillator It needs an external crystal Crystal decides the operating frequency of the 8051

4.3.3 CENTRAL PROCESSING UNIT The CPU is the brain of the microcontrollers reading users programs and executing the expected task as per instructions stored there in. Its primary elements are an 8 bit Arithmetic Logic Unit (ALU), Accumulator (Acc), few more 8 bit registers, B register, Stack Pointer (SP), Program Status Word (PSW) and 16 bit registers, Program Counter (PC) and Data Pointer Register (DPTR). 4.3.4 INTERRUPTS The 8031 has five interrupt sources: one from the serial port when a transmission or reception operation is executed; two from the timers when overflow occurs and two come from the two input pins INT0, INT1. The Program Memory address, 0003H is allotted to the first interrupt and next seven bytes can be used to do any task associated with that interrupt. 4.3.5 SERIAL PORT Each 8051 microcomputer contains a high speed full duplex (means you can simultaneously use the same port for both transmitting and receiving purposes) serial port which is software configurable in 4 basic modes: 8 bit UART; 9 bit UART; Interprocessor Communications link or as shift register I/O expander. For the standard serial communication facility, 8031 can be programmed for UART operations and can be connected with regular personal computers, teletype writers, modem at data rates between 122 bauds and 31 kilo bauds.

5. ENCODER AND DECODER

5.1 SERIAL ENCODER/DECODER
The most popular serial encoder/decoder used is the HT12D-HT12E pair.

5.2 HT12E ENCODER

The HT12E Encoder ICs are series of CMOS LSIs for Remote Control system applications. They are capable of Encoding 12 bit of information which consists of N address bits and 12-N data bits. Each address/data input is externally programmable if bonded out.

Figure: 5.2.1 HT12E 5.2.1 GENERAL DESCRIPTION Each address/data input can be set to one of the two logic states. The programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium upon receipt of a trigger signal. The capability to select a TE trigger on the HT12E further enhances the application flexibility of the 212 series of encoders. 5.2.2 PIN DIAGRAM

Figure: 5.2.2.1 HT12E Pin Diagram

5.2.2.1 PIN DESCRIPTION

Table: 5.2.2.1.1 Pin Description of HT 12E

5.2.3 FUNCTIONAL DESCRIPTION 5.2.3.1 OPERATION The 2power 12 series of encoders begin a 4-word transmission cycle upon receipt of a transmission enable (TE for the HT12E). This cycle will repeat itself as long as the transmission enable (TE or D8~D11) is held low. Once the transmissions enable returns high the encoder output completes its final cycle and then stops as shown below.

Figure: 5.2.3.1.1 Transmission timing for the HT12E 5.2.3.2 INFORMATION WORD

If L/M=1 the device is in the latch mode (for use with the latch type of data decoders). When the transmission enable is removed during a transmission, the DOUT pin outputs a complete word and then stops. On the other hand, if L/M=0 the device is in the momentary mode (for use with the momentary type of data decoders). When the transmission enable is removed during a transmission, the DOUT outputs a complete word and then adds 7 words all with the 1 data code. An information word consists of 4 periods as illustrated below.

Figure: 5.2.3.2.1 Composition of information 5.2.3.3 ADDRESS/DATA WAVEFORM Each programmable address/data pin can be externally set to one of the following two logic states as shown below.

Figure: 5.2.3.3.1 Address/Data bit waveform for the HT12E 5.2.3.4 ADDRESS/DATA PROGRAMMING (PRESET) The status of each address/data pin can be individually pre-set to logic high or low. If a transmission-enable signal is applied, the encoder scans and transmits the status of the 12 bits of address/data serially in the order A0 to AD11 for the HT12E encoder. During information transmission these bits are transmitted with a preceding synchronization bit. If the trigger signal is not applied, the chip enters the standby mode and consumes a reduced current of less than 1micro Amp for a supply voltage of 5V. Usual applications preset the address pins with individual security codes using DIP switches or PCB wiring, while the data is selected by push buttons or electronic switches.

5.2.4 FEATURES
18 PIN DIP, Operating Voltage : 2.4V ~ 12V Low Power and High Noise Immunity, CMOS Technology

Low Standby Current and Minimum Transmission Word

Built-in Oscillator needs only 5% Resistor, Minimal External Components Easy Interface with and RF or an Infrared transmission medium.

5.3 HT12D DECODER

The HT12D Decoder ICs are series of CMOS LSIs for remote control system applications. These ICs are paired with each other. For proper operation a pair of encoder/decoder with the same number of address and data format should be selected. The Decoder receive the serial address and data from its corresponding decoder, transmitted by a carrier using an RF transmission medium and gives output to the output pins after processing the data.

Figure: 5.3.1 HT12D 5.3.1 GENERAL DESCRIPTION They are paired with 212 series of encoders. The decoders receive serial addresses and data from a programmed 212 series of encoders that are transmitted by a carrier using an RF or an IR transmission medium. They compare the serial input data three times continuously with their local addresses. If no error or unmatched codes are found, the input data codes are decoded and then transferred to the output pins. The VT pin also goes high to indicate a valid transmission. The 212 series of decoders are capable of decoding information that consists of N bits of address and 12-N bits of data. Of this series, the HT12D is arranged to provide 8 address bits and 4 data bits.

5.3.2 PIN DIAGRAM

Figure: 5.3.2.1 HT12D Pin Diagram 5.3.3 PIN DESCRIPTION Table: 5.3.3.1 Pin description of HT12D

5.3.4 FUNCTIONAL DESCRIPTION 5.3.4.1 OPERATION The 212 series of decoders provides various combinations of addresses and data pins in different packages so as to pair with the 212 series of encoders. The decoders receive data that are transmitted by an encoder and interpret the first N bits of code period as addresses and the last 12-N bits as data, where N is the address code number. A signal on the DIN pin activates the oscillator which in turn decodes the incoming address and data. The decoders will then check the received address three times continuously. If the received address codes all match the contents of the decoders local address, the 12-N bits of data are decoded to activate the output pins and the VT pin is set high to indicate a valid transmission. This will last unless the address code is incorrect or no signal is received. The output of the VT pin is high only when the transmission is valid. Otherwise it is always low. 5.3.4.2 DECODER TIMING

Figure: 5.3.4.2.1 Timing diagram of HT12D 5.3.4.3 ADDRESS/DATA SEQUENCE The following table provides address/data sequence for HT12D. Table: 5.3.4.3.1 Address/Data Sequence of HT12D Part No. HT12D 5.3.5 Address/Data Bits 0 1 2 3 A0 A1 A2 A3

4 A4

5 A5

6 A6

7 A7

8 D8

9 D9

10 D10

11 D11

FEATURES

18 PIN DIP, Operating Voltage : 2.4V ~ 12.0V

Low Power and High Noise Immunity

CMOS Technology

Low Stand by Current,

Ternary address setting

Capable of Decoding 12 bits of Information,

8 ~ 12 Address Pins and 0 ~ 4 Data Pins

Received Data are checked 2 times, Built in Oscillator needs only 5% resistor
VT goes high during a valid transmission,

Minimal External Components Easy Interface with an RF of IR transmission medium

5.4 APPLICATIONS OF HT12E AND HT12D

 Burglar Alarm, Smoke Alarm, Fire Alarm, Car Alarm, Security System Garage Door and Car Door Controllers
Cordless telephone, Other Remote Control System

5.5 COMPATIBILITY OF HT12E AND HT12D

Compatible with RF Modules 433 MHz Link RF Modules

6. RF MODULES

RF Communication works on the principle of Serial Communication. RF Modules are used in wireless transfer data. This makes them most suitable for remote control applications, as in where you need to control some machines or robots without getting in touch with them (may be due to various reasons like safety, etc). Now depending upon the type of application, the RF module is chosen. For short range wireless control applications, an ASK RF Transmitter-Receiver Module of frequency 315 MHz or 433 MHz is most suitable. They are quite compact and cheap.

6.1 RF COMMUNICATION BLOCK DIAGRAM

A general RF communication block diagram is shown in figure 6.1. Since most of the encoders/decoders/microcontrollers are TTL compatible, most of the inputs by the user will be given in TTL logic level. Thus, this TTL input is to be converted into serial data input using an encoder or a microcontroller. This serial data can be directly read using the RF Transmitter, which then performs ASK (in some cases FSK) modulation on it and transmit the data through the antenna. In the receiver side, the RF Receiver receives the modulated signal through the antenna, performs all kinds of processing, filtering, demodulation, etc. and gives out a serial data. This serial data is then converted to a TTL level logic data, which is the same data that the user has input. An antenna is needed for signal transmission. Usually, a 20-30 cm wire serves best. It is sufficient to give a range of 80 meters in open region. To improve the efficiency, use a coiled wire can be used (take a wire and make it into a coil). It increases the signal strength.

Figure: 6.1.1 RF Block Diagram 6.2.1 RF TRANSMITTER The TWS-434 and RWS-434 are extremely small, and are excellent for applications requiring short-range RF remote controls. The transmitter module is only 1/3 the size of a standard postage stamp, and can easily be placed inside a small plastic enclosure.

The transmitter output is up to 8mW at 433.92MHz with a range of approximately 400 foot (open area) outdoors. Indoors, the range is approximately 200 foot, and will go through most walls. The TWS-434 transmitter accepts digital inputs, can operate from 1.5 to 12 Volts-DC, and makes building a miniature hand-held RF transmitter very easy. The TWS-434 is approximately the size of a standard postage stamp. 6.2.1.2 PIN DIAGRAM

Figure: 6.2.1.2.1 TWS_434 Pin Diagram 6.2.1.3 PIN DESCRIPTION Table: 6.2.1.3.1 Pin description of TWS-434

6.2.1.4 FEATURES
433.92 MHz Frequency, Low Cost, 1.5-12V operation 11mA current consumption at 3V, Small size, 4 dBm output power at 3V

6.2.1.5 APPLICATIONS
Remote Keyless Entry (RKE), Remote Lighting Controls, On-Site Paging, Wireless Alarm and Security Systems, Asset Tracking Long Range RFID, Automated Resource Management

6.3 RF RECEIVER

The receiver also operates at 433.92MHz, and has a sensitivity of 3uV. The RWS434 receiver operates from 4.5 to 5.5 volts-DC, and has both linear and digital outputs. It will support most antenna types, including printed antennas integrated directly onto the PCB and simple single core wire of about 17cm. The performance of the different antennas varies. Any time a trace is longer than 1/8th the wavelength of the frequency it is carrying, it should be a 50 ohm micro strip. 6.3.1 RWS-434 PIN DIAGRAM

Figure: 6.3.1.1 Pin diagram of RWS-434 6.3.2 PIN DESCRIPTION Table: 6.3.2.1 Pin description of RWS-434

6.3.3

FEATURES

 Low Cost, 5V operation 3.5mA current drain, No External Parts are required

Receiver Frequency: 433.92 MHZ

Typical sensitivity: -105dBm, IF Frequency: 1MHz

6.3.4 APPLICATIONS
Car security system, Sensor reporting, Automation system, Remote Keyless Entry

(RKE)
Remote Lighting Controls, On-Site Paging, Asset Tracking, Long Range RFID Wireless Alarm and Security Systems, Automated Resource Management

7. SERIAL COMMUNICATION
7.1 INTRODUCTION
Serial communication is basically the transmission or reception of data one bit at a time. Today's computers generally address data in bytes or some multiple thereof. A byte contains 8 bits. A bit is basically either a logical 1 or zero. Every character on this page is actually expressed internally as one byte. The serial port is used to convert each byte to a stream of ones and zeroes as well as to convert a stream of ones and zeroes to bytes. The serial port contains a electronic chip called a Universal Asynchronous Receiver/Transmitter (UART) that actually does the conversion. The serial port has many pins.. Electrically speaking, whenever the serial port sends a logical one (1) a negative voltage is effected on the transmit pin. Whenever the serial port sends a logical zero (0) a positive voltage is affected. When no data is being sent, the serial port's transmit pin's voltage is negative (1) and is said to be in a MARK state. Note that the serial port can also be forced to keep the transmit pin at a positive voltage (0) and is said to be the SPACE or BREAK state. (The terms MARK and SPACE are also used to simply denote a negative voltage (1) or a positive voltage (0) at the transmit pin respectively). When transmitting a byte, the UART (serial port) first sends a START BIT which is a positive voltage (0), followed by the data (general 8 bits, but could be 5, 6, 7, or 8 bits) followed by one or two STOP Bits which is a negative(1) voltage. The sequence is repeated for each byte sent. The baud rate is the number of times the signal can switch states in one second. Therefore, if the line is operating at 9600 baud, the line can switch states 9,600 times per second. This means each bit has the duration of 1/9600 of a second or about100sec.when transmitting a character there are other characteristics other than the baud rate that must be known or that must be setup. These characteristics define the entire interpretation of the data stream. The first characteristic is the length of the byte that will be transmitted. This length in general can be anywhere from 5 to 8 bits. The second characteristic is parity. The parity characteristic can be even, odd, mark, space, or none. If even parity, then the last data bit transmitted will be a logical 1 if the data transmitted had an even amount of 0 bits. If odd parity, then the last data bit transmitted will be a logical 1 if the data transmitted had an odd amount of 0 bits. If MARK parity, then the last transmitted data bit will always be a logical 1. If SPACE parity, then the last transmitted data bit will always be a logical 0. If no parity then there is no parity bit

transmitted. The third characteristic is the amount of stop bits. This value in general is 1 or 2. Serial communication can be half duplex or full duplex. Full duplex communication means that a device can receive and transmit data at the same time. Half duplex means that the device cannot send and receive at the same time. It can do them both, but not at the same time. Half duplex serial communication needs at a minimum two wires, signal ground and the data line. Full duplex serial communication needs at a minimum three wires, signal ground, transmit data line, and receive data line. The RS232 specification governs the physical and electrical characteristics of serial communications. This specification defines several additional signals that are asserted (set to logical 1) for information and control beyond the data signal. These signals are the Carrier Detect Signal (CD), asserted by modems to signal a successful connection to another modem, Ring Indicator (RI), asserted by modems to signal the phone ringing, Data Set Ready (DSR), asserted by modems to show their presence, Clear To Send (CTS), asserted by modems if they can receive data, Data Terminal Ready (DTR), asserted by terminals to show their presence, Request To Send (RTS), asserted by terminals if they can receive data. The section RS232 Cabling describes these signals and how they are connected. The above paragraph alluded to hardware flow control. Hardware flow control is a method that two connected devices use to tell each other electronically when to send or when not to send data. A modem in general drops (logical 0) its CTS line when it can no longer receive characters. It re-asserts it when it can receive again. A terminal does the same thing instead with the RTS signal. Another method of hardware flow control in practice is to perform the same procedure in the previous paragraph except that the DSR and DTR signal. Note that hardware flow control requires the use of additional wires. The benefit to this however is crisp and reliable flow control. Another method of flow control used is known as software flow control. This method requires a simple 3 wire serial communication link, transmit data, receive data, and signal ground. If using this method, when a device can no longer receive, it will transmit a character that the two devices agreed on. This character is known as the XOFF character. This character is generally a hexadecimal 13. When a device can receive again it transmits an XON character that both devices agreed to. This character is generally a hexadecimal 11.

7.2 NULL MODEM

Serial communications with RS232 is the oldest and most widely spread communication methods in computer world. The standards show the use of DTE/DCE communication, the way a computer should communicate with a peripheral device like a modem. DTE means Data Terminal Equipment (computers etc.) where DCE is the abbreviation of Data Communication Equipment (modems). One of the main uses of serial communication today where no modem is involved a serial null modem configuration with DTE/DCE communication Handshaking can increase the maximum allowed communication speed because it gives the computers the ability to control the flow of information. A high amount of incoming data is allowed if the computer is capable to handle it, but not if it is busy performing other tasks. If no flow control is implemented in the null modem connection, communication is only possible at speeds at which it is sure the receiving side can handle the amount information even under worst case conditions.

7.3 RS232
In the connector pin out of the RS232 port, two pins which are certainly used for flow control are RTS, request to send and CTS, clear to send. With DTE/DCE communication (i.e. a computer communicating with a modem device) RTS is an output on the DTE and input on the DCE. CTS are the answering signal coming from the DCE. Before sending a character, the DTE asks permission by setting its RTS output. No information will be sent until the DCE grants permission by using the CTS line. If the DCE cannot handle new requests, the CTS signal will go low. A simple but useful mechanism allowing flow control in one direction. The assumption is that the DTE can always handle incoming information faster than the DCE can send it. Modem speeds of 300 baud were common and 1200 baud was seen as a high speed connection. For further control of the information flow, both devices have the ability to signal their status to the other side. For this purpose, the DTR data terminal ready and DSR data set ready signals are present. The DTE uses the DTR signal to signal that it is ready to accept information, whereas the DCE uses the DSR signal for the same purpose. Using these signals involves not a small protocol of requesting and answering as with the RTS/CTS handshaking. These signals are in one direction only

Figure: 7.3.1 Pin diagram of RS-232 The last flow control signal present in DTE/DCE communication is the CD carrier detect. It is not used directly for flow control, but mainly an indication of the ability of the modem device to communicate with its counterpart. This signal indicates the existence of a communication link between two modem devices.

7.4 NULL MODEM WITHOUT HANDSHAKING

To avoid hand shaking in null modem, the data lines and signal ground are cross connected in the null modem communication cable. All other pins have no connection. An example of such a null modem cable without handshaking can be seen in the figure below.

Connector 1 2 3 5

Connector 2 3 2 5

Function Rx TX TX Rx

Signal ground

Figure: 7.4.1 Simple null modem without handshaking

8. SOFTWARE TOOLS
8.1 TYPES OF TOOLS
KEIL C Flash Magic ORCAD MATLAB 8.1.1 KEIL C Keil software is the leading vendor for 8/16-bit development tools. Keil C51 compiler is the de facto industry standard and supports more than 500 current 8051 device variants. Now, Keil software offers development tools for ARM. Keil software makes C compilers, macro assemblers, real-time kernels, debuggers, simulators, integrated environments, and evaluation boards for 8051, 251, ARM and XC16x/C16x/ST10 microcontroller families. The Keil C51 C Compiler for the 8051 microcontroller is the most popular 8051 C compiler in the world. It provides more features than any other 8051 C compiler available today. The C51 Compiler allows you to write 8051 microcontroller applications in C that, once compiled, have the efficiency and speed of assembly language. Language extensions in the C51 Compiler give you full access to all resources of the 8051. The C51 Compiler translates C source files into relocatable object modules which contain full symbolic information for debugging with the Vision Debugger or an in-circuit emulator. In addition to the object file, the compiler generates a listing file which may optionally include symbol table and cross reference Nine basic data types, including 32-bit IEEE floating-point,
Flexible variable allocation with bit, data, bdata, idata, xdata, and

pdata memory

types,
Interrupt functions may be written in C, Bit-addressable data objects, Full use of the 8051 register banks, Use of AJMP and ACALL instructions,

Complete symbol and type information for source-level debugging, Built-in interface for the RTX51 real time kernels,
Support for the Philips 8xC750, 8xC751, and 8xC752 limited instruction sets,

Support for the Infineon 80C517 arithmetic unit.

8.1.2 FLASH MAGIC Flash magic can control the entry into ISP mode of some microcontroller devices by using the COM port handshaking signals to control the device. Typically the handshaking signals are used to control such pins as Reset, PSEN and VCC. The exact pins used depend on the specific device. When this feature is supported, Flash Magic will automatically place the device into ISP mode at the beginning of an ISP operation. Flash Magic will then automatically cause the device to execute code at the end of the ISP operation. 8.1.3 ORCAD ORCAD really consists of tools. Capture is used for design entry in schematic form. Layout is a tool for designing the physical layout of components and circuits on a PCB. During the design process, you will move back and forth between these two tools. 8.1.4 MATLAB MATLAB is a high-performance language for technical computing. It integrates computation, visualization, and programming in an easy-to-use environment where problems and solutions are expressed in familiar mathematical notation. Typical uses include
Math and computation, Algorithm development, Data acquisition, Data analysis Modeling, simulation, and prototyping, exploration, and visualization Scientific and engineering graphics, Application development

MATLAB is an interactive system whose basic data element is an array that does not require dimensioning. This allows you to solve many technical computing problems, especially those with matrix and vector formulations, in a fraction of the time it would take to write a program in a scalar non interactive language such as C or FORTRAN. The name MATLAB stands for matrix laboratory. MATLAB was originally written to provide easy access to matrix software. MATLAB features a family of add-on application-specific solutions called toolboxes. Toolboxes are comprehensive collections of MATLAB functions (M files) that extend the MATLAB environment to solve particular classes of problems. 8.1.4.1 The MATLAB system The MATLAB system consists of five main parts

Development Environment This is the set of tools and facilities that help you use MATLAB functions and files.

Many of these tools are graphical user interfaces. It includes the MATLAB desktop and command window, a command history, an editor and debugger, and browsers for viewing help, the workspace, files, and the search path. The MATLAB Mathematical Function Library This is a vast collection of computational algorithms ranging from elementary functions, like sum, sine, cosine, and complex arithmetic, to more sophisticated functions like matrix inverse, matrix Eigen values, Bessel functions, and fast Fourier transforms. The MATLAB Language This is a high-level matrix/array language with control flow statements, functions, data structures, input/output, and object-oriented programming features. It allows both programming in the small to rapidly create quick and dirty throw-away programs, and programming in the large to create large and complex application programs. Graphics MATLAB has extensive facilities for displaying vectors and matrices as graphs, as well as annotating and printing these graphs. It includes high-level functions for twodimensional and three-dimensional data visualization, image processing, animation, and presentation graphics. It also includes low-level functions that allow you to fully customize the appearance of graphics as well as to build complete graphical user interfaces on your MATLAB applications.

The MATLAB Application Program Interface (API) This is a library that allows you to write C and FORTRAN programs that interact

with MATLAB. It includes facilities for calling routines from MATLAB (dynamic linking), calling MATLAB as a computational engine, and for reading and writing MATfiles. Various toolboxes are there in MATLAB for computing recognition techniques, but we are using IMAGE PROCESSING toolbox.

9. HARDWARE TOOLS
9.1 RELAY
A relay is an electrically operated switch. Current flowing through the coil of the relay creates a magnetic field which attracts a lever and changes the switch contacts. The coil current can be on or off so relays have two switch positions and they are double throw (changeover) switches. Relays allow one circuit to switch a second circuit which can be completely separate from the first. There is no electrical connection inside the relay between the two circuits; the link is magnetic and mechanical. Relays are very simple
devices. The components are Electromagnet, Armature that can be attracted by the

electromagnet, Spring, Set of electrical contacts. 9.1.1 WORKING When a current flows through the coil, the resulting magnetic field attracts an armature that is mechanically linked to a moving contact. The movement either makes or breaks a connection with a fixed contact. When the current to the coil is switched off, the armature is returned by a force approximately half as strong as the magnetic force to its relaxed position. Usually this is a spring, but gravity is also used commonly in industrial motor starters. Most relays are manufactured to operate quickly. In a low voltage application, this is to reduce noise. In a high voltage or high current application, this is to reduce arcing.

Figure: 9.1.1.1 Circuit symbol of a relay The relay's switch connections are usually labeled COM, NC and NO:
COM = Common, always connect to this; it is the moving part of the switch.

NC = Normally Closed, COM is connected to this when the relay coil is off. NO = Normally Open, COM is connected to this when the relay coil is on. 9.1.2 ADVANTAGES OF RELAYS Like relays, transistors can be used as an electrically operated switch. However transistors cannot switch AC or high voltages (such as mains electricity) and they are not usually a good choice for switching large currents (> 5A). In these cases a relay will be needed.

Advantages of relays compared to other switching devices are: The complete electrical isolation improves safety by ensuring that high voltages and currents cannot appear where they should not be.
Relays can switch many contacts at once. Relays come in all shapes and sizes for

different applications and they have various switch contact configurations. Double Pole Double Throw (DPDT) relays are common and even 4-pole types are available. We can therefore control several circuits with one relay or use one relay to control the direction of a motor. Relays can switch AC and DC, transistors can only switch DC. Relays can switch high voltages, transistors cannot. Relays are a better choice for switching large currents (> 5A).

9.2 DC MOTORS
In any electric motor, operation is based on simple electromagnetism. A current carrying conductor generates a magnetic field; when this is then placed in an external magnetic field, it will experience a force proportional to the current in the conductor, and to the strength of the external magnetic field. The internal configuration of a DC motor is designed to harness the magnetic interaction between a current carrying conductor and an external magnetic field to generate rotational motion. A simple 2-pole DC electric motor is shown in figure 9.2.1, 9.2.2.

Figure: 9.2.1 DC Motor

Figure: 9.2.2 DC Motor Internal diagram

Every DC motor has six basic parts are axle, rotor (armature), stator, commutator, field magnet(s), and brushes. In most common DC motors, the external magnetic field is produced by high strength permanent magnets. The stator is the stationary part of the motor which includes the motor casing, as well as two or more permanent magnet pole pieces. The rotor (together with the axle and attached commutator) rotates with respect to the

stator. The rotor consists of windings (generally on a core), the windings being electrically connected to the commutator. The above diagram shows a common motor layout with the rotor inside the stator (field) magnets. The geometry of the brushes, commutator contacts, and rotor windings are such that when power is applied, the polarities of the energized winding and the stator magnet(s) are misaligned, and the rotor will rotate until it is almost aligned with the stator's field magnets. As the rotor reaches alignment, the brushes move to the next commutator contacts, and energize the next winding. In two-pole motor, the rotation reverses the direction of current through the rotor winding, leading to a "flip" of the rotor's magnetic field, driving it to continue rotating. The iron core provides a strong, rigid support for the windings a particularly important consideration for high torque motors. The core also conducts heat away from the rotor windings, allowing the motor to be driven harder than might otherwise be the case. The armature is hollow, and the permanent magnet can be mounted inside the rotor coil. Coreless DC motors have much lower armature inductance than iron-core motors of comparable size, extending brush and commutator life.

10. CONCLUSIONS, ADVANTAGES, DISADVANTAGES AND FUTURE SCOPE

10.1 CONCLUSIONS
In this project, we implement image recognition techniques that can provide the important functions required by advanced intelligent system, to interact with the robot. This is an authoring system capable of creating and controlling motions of industrial robots based on finger-robot interaction. This system is user-friendly and intuitive and facilitates motion authoring of industrial robots using fingers, which is second only to language in terms of means of communication. This project will help to reduce the complexity, cheaper and smarter than traditional ones. User can manipulate the program and can assign the codes for fingers in his/her own style.

10.2 ADVANTAGES
User friendly Simple and Cheaper Smarter than other systems Independent of size and tilt angle Unlike flex sensors which requires one sensor for each finger this requires only one camera

10.3 DISADVANTAGES
The only disadvantage of Finger robot interaction is misinterpretation of fingers by the MAT Lab.

10.4 FUTURE SCOPE

We can use Zigbee and GPRS to monitor the actions of the robot from Control room section. A wireless camera has to be attached to the robot section and using Zigbee the images or video can be transmitted to the Control room section. The user can operate the robot according to the images or video.

We can also use AV Transmitter-Receiver and TV Tuner card for transmissionreception of the video.

As the RF Module is used for line of sight communication and also for short distance communication. The robot can be authored for long distance communication by taking Frequency License from Government.