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CONTROLLED
ROBOT
( Gesture Controlled Car )
ACKNOWLEDGEMENT
We would like to acknowledge our Teachers and Parents , who supported us
morally, technically and financially.
Especially our supervisor
T. Venkatesh
Rama Kovour
Sita R Shastry
who helped us at every step in the making of our project, helped us in the
clarification of our queries related to our project and technical problems. Also
our special thanks to all class fellows, who helped us in clarification of any
issue as well as implementation and in documentation and making this project
distinct reality.
ABSTRACT
This PowerPoint presents a model for gesture controlled user interface
(GCUI),and identifies trends in technology ,application and usability. We present
an integrated approach in real time detections ,gesture based data which
control vehicle movement and manipulation on gesture of the user using hand
movements. A three axis accelerometer is adaption. As the person moves their
hand, the accelerometer also moves accordingly. The gesture is capture by
accelerometer and processed by gesture. Today human machine interactions is
moving away from mouse and pen and is becoming pervasive and much mouse
compatible with the physical world . With each passing day the gap between
machines and human is being reduced with the introduction of new technology
is easy the standard of living. Its having future scope of advanced robotic arms
that are designed like the human hand itself can easily controlled using hand
gesture only. It also having proposed utility in field of construction, medical
science, hazardous waste disposal etc.
PREFACE
Introduction
Transmitter
Design Proposal
IC HT12E
Components Used
Accelerometer ADXL335
Freeduino ( ATmega8 )
IC HT12D
ATmega8
WS TX 01 & WS RX 02
FT 232 RL
Working
Crystal ( 16MHz )
INTRODUCTION
In the existing system, human hand movements are sensed by the robot through
sensors and it follow the same. As the person moves their hand, the accelerometer
also moves accordingly sensor displaces and this sensor senses the parameter
according to the position of hand. In this system, a gesture driven robotic vehicle is
developed, in which the vehicle movements and manipulations i.e., handling and
control is depends on the gesture of the user. In this system, gesture is captured by
accelerometer and it is processed by software namely, microcontroller software
and the parameters are sent to microcontroller and encoder circuit, It is further
transmitted (transmitter section) by RF433 MHZ transmitter. In the receiver
section, the RF 433 MHZ receiver holds down the received parameters and process
with microcontroller and gives those parameters to the robotic vehicle so that it act
accordingly to the gesture. By this system, it is possible to achieve processing of
long distance. This system is knowingly developed to apply in medical field for
nursing assistance to physicians and in surgeries.
BLOCK DIAGRAM
Task was divided into two parts to make the task easy and simple and to
avoid complexity and make it error free.
The first is the transmitting section which includes the following components:
Accelerometer, encoder IC, RF Transmitter Module.
The second is the receiving end which comprises of following main
components:
RF Receiver Module, Decoder IC, Microcontroller, Motor Driver IC, DC Motors.
COMPONENTS USED
Freeduino ( MC ATMega 8 )
RF Receiver ( WS-RX-02 )
Motor Driver ( L293D )
Encoder ( IC HT12E )
Decoder ( IC HT12D )
DC BO motor ( Battery
Operation )
Transmitter ( WS-TX-01 )
9V Battery
Connecting Wire ( Multistand )
EXPLAINING
THE
COMPONENT
S
Technology is a useful
servant but a
dangerous master.
Christian Lous Lange
FREEDUINO ( MC ATMEGA 8 )
( A PROTOTYPE OF ARDUINO UNO R1 )
FREEDUINO
UNO
( ARDUINO COMPATIBLE )
ATMega 8
IC 1313
14 Digital Pins
6 Analog Pins
16 MHz Crystal
Tx , Rx Led
ISCP Pins
Regulator 3.3 V
Reset Button
FREEDUINO SCHEMATIC
MICROCONTROLLER : ATMEGA 8
The Atmel AVR Atmega8 is low-powered CMOS 8-bit Microcontroller
based on the AVR RISC architecture. By executing powerful
instructions in a single clock cycle, the ATmega8 achieves
throughputs approaching 1MIPS per MHz, allowing the system
designer to optimize power consumption versus processing speed.
The AtmelAVR core combines a rich instruction set with 32
general purpose working registers. All the 32 registers are directly
connected to the Arithmetic Logic Unit (ALU), allowing two
independent registers to be accessed in one single instruction
executed in one clock cycle. The resulting architecture is more
code efficient while achieving throughputs up to ten times faster
than conventional CISC microcontrollers.
PIN DIAGRAM
&
DESCRIPTION
ARCHITECTURE
High-performance, Low-power
AtmelAVR 8-bit Microcontroller.
Operating Voltages
2.7V - 5.5V (ATmega8L)
4.5V - 5.5V (ATmega8)
The Idle mode stops the CPU while allowing the SRAM,
Timer/Counters, SPI port, and interrupt system to continue
functioning. The Power- down mode saves the register
contents but freezes the Oscillator, disabling all other chip
functions until the next Interrupt or Hardware Reset. In
Power-save mode, the asynchronous timer continues to run,
allowing the user to maintain a timer base while the rest of
the device is sleeping. The ADC Noise Reduction mode stops
the CPU and all I/O modules except asynchronous timer and
ADC, to minimize switching noise during ADC conversions.
In Standby mode, the crystal/resonator Oscillator is running
while the rest of the device is sleeping. This allows very fast
start-up combined with low-power consumption.
CRYSTAL
( 16MHZ )
A crystal oscillator is a circuit that uses a piezoelectric
crystal (commonly a quartz crystal) as a frequency
selective element. The crystal mechanically vibrates
as a resonator, and its frequency of vibration
determines the oscillation frequency. Crystals have a
very high Q-factor and also better temperature
stability than tuned circuits, so crystal oscillators
have much better frequency stability than LC or RC
oscillators. They are used to stabilize the frequency of
most radio transmitters, and to generate the clock
signal in computers and quartz clocks. Crystal
oscillators often use the same circuits as LC
oscillators, with the crystal replacing the tuned circuit.
First of all the purpose of connecting crystal oscillator
to microcontroller is that it require clock pulses for its
functionality. For each instruction fetching, decoding,
executing, and storing, processor require clock pulse .
Transmitter And
Receiver Section
TRANSMITTER
A transmitter is an electronic device used in telecommunications to produce
radio waves in order to transmit or send data with the aid of an antenna. A
transmitter is also known as a radio transmitter.
Transmitters are devices that are used to send out data as radio waves in a
specific band of the electromagnetic spectrum in order to fulfil a specific
communication need, be it for voice or for general data. In order to do this, a
transmitter takes energy from a power source and transforms this into a
radio frequency alternating current that changes direction millions to billions
of times per second depending on the band that the transmitter needs to
send in. When this rapidly changing energy is directed through a conductor,
in this case an antenna, electromagnetic or radio waves are radiated
outwards to be received by another antenna that is connected to a receiver
that reverses the process to come up with the actual message or data.
SCHEMATIC OF TRANSMITTER
DESCRIBING CONNECTIONS
The transmitter consists of ATmega328 microcontroller
(IC2), ADXL335 accelerometer, HT12E encoder (IC4) and
433MHz RF transmitter module (TX1). In this circuit, two
analogue outputs from ADXL335 pins (x, y) are
connected with input pins (23, 24) of the microcontroller.
Analogue signals are converted to digital signals through
the microcontroller. Digital outputs from pins 16, 17, 18
and 19 of the microcontroller are directly sent to pins 13,
12, 11 and 10 of encoder IC4. This data is encoded and
transmitted via RF module TX1.
Features
Operating voltage
Pin Name
I/P Pins
A0~A7
AD8~AD11
D8~D11
DOUT
L/MB
OSC , X1
This circuit utilizes the RF module (TX / Rx) for making a wireless remote,
which could be used to drive an output from a distant place. RF module, as the
name suggests, uses radio frequency to send signals. These signals are
transmitted at a particular frequency and a baud rate. A receiver can receive
these signals only if it is configured for that frequency.
This radio frequency (RF) transmission system employs Amplitude Shift Keying
(ASK) with transmitter/receiver (TX /Rx) pair operating at 434 MHz The
transmitter module takes serial input and transmits these signals through RF.
The transmitted signals are received by the receiver module placed away from
the source of transmission. The system allows one way communication
between two nodes, namely, transmission and reception. The RF module has
been used in conjunction with a set of four channel encoder/decoder ICs. Here
HT12E & HT12D have been used as encoder and decoder respectively. The
encoder converts the parallel inputs (from the remote switches) into serial set
of signals. These signals are serially transferred through RF to the reception
point. The decoder is used after the RF receiver to decode the serial format
and retrieve the original signals as outputs.
ACCELEROMETER
The ADXL335 is a small, thin, low power, complete 3-axis
accelerometer with signal conditioned voltage outputs. The product
measures acceleration with a minimum full-scale range of 3 g. It can
measure the static acceleration of gravity in tilt-sensing applications,
as well as dynamic acceleration resulting from motion, shock, or
vibration.
The user selects the bandwidth of the accelerometer using the CX, CY,
and CZ capacitors at the XOUT, YOUT, and ZOUT pins.
Bandwidths can be selected to suit the application, with a range of 0.5
Hz to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz
for the Z axis. The ADXL335 is available in a small, low profile, 4 mm
4 mm 1.45 mm, 16-lead, plastic lead frame chip scale package.
Pin
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Function Descriptions
No. Mnemonic
Description
NC
No Connect1.
ST
Self-Test.
COM
Common.
NC
No Connect1.
COM
Common.
COM
Common.
COM
Common.
ZOUT
Z Channel Output.
NC
No Connect1.
YOUT
Y Channel Output.
NC
No Connect1.
XOUT
X Channel Output.
NC
No Connect1.
VS
Supply Voltage (1.8 V to 3.6 V)
VS
Supply Voltage (1.8 V to 3.6 V)
NC
No Connect.
EP
Exposed Pad ( Not internally
connected. Solder for mechanical
integrity.
RECEIVER
An RF receiver module receives the modulated RF signal, and
demodulates it. There are two types of RF receiver modules:
superheterodyne receivers and super-regenerative receivers.
Super-regenerative modules are usually low cost and low power
designs using a series of amplifiers to extract modulated data from
a carrier wave. Super-regenerative modules are generally imprecise
as their frequency of operation varies considerably with
temperature and power supply voltage. Superheterodyne receivers
have a performance advantage over super-regenerative; they offer
increased accuracy and stability over a large voltage and
temperature range. This stability comes from a fixed crystal design
which in turn leads to a comparatively more expensive product.
SCHEMATICS OF RECEIVER
MOTOR DRIVER
( L293D )
The L293D is a 16 pin IC, with eight pins, on each side, dedicated to the
controlling of a motor. There are 2 INPUT pins, 2 OUTPUT pins and 1
ENABLE pin for each motor. L293D consist of two H-bridge. H-bridge is the
simplest circuit for controlling a low current rated motor. It works on the
concept of H-bridge. H-bridge is a circuit which allows the voltage to be
flown in either direction. As you know voltage need to change its direction
for being able to rotate the motor in clockwise or anticlockwise direction,
Hence H-bridge IC are ideal for driving a DC motor.
The L293D IC receives signals from the microprocessor and transmits the
relative signal to the motors. It has two voltage pins, one of which is used
to draw current for the working of the L293D and the other is used to
apply voltage to the motors. The L293D switches it output signal according
to the input received from the microprocessor. There are two Enable pins
on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1 and 9
need to be high. For driving the motor with left H-bridge you need to
enable pin 1 to high. And for right H-Bridge you need to make the pin 9 to
WORKING OF A H-BRIDGE
( H-BRIDGE EXPLAINED EARLIER )
Turning on
SwitchesS1andS4makes the motor
rotate clockwise.
Turning on
SwitchesS2andS3makes the motor
rotate anti-clockwise
Turning on SwitchesS1andS3will
stop the motor (Brakes)
Turning off all the switches gives the
motor a free wheel drive
Lastly turning onS1&S2at the
same time orS3&S4at the same
time shorts your entire circuit. So, do
ASK MODULATION
Move Forward
Move Right
Move Backward
Move Left
HAND
GESTURES &
MOVEMENTS
ACCELEROMETER ORIENTATION
+Y
-Y
+X
LEFT
-X
STOP
REST
SOFTWARE
The software program is written in Arduino
programming language. We programmed a
fresh Atmega 8 microcontroller with the
help of Arduino IDE 1.0.7 and an Arduino
Uno board.
First, we have to load bootloader code into
the microcontroller. For that, we used
Arduino Uno for in system programming
(ISP) given in the IDE, by selecting File
Examples- Android ISP. Once the bootloader
is uploaded into the microcontroller, code of
this project can be uploaded.
CONCLUSION
Enormous amount of work has been done on wireless gesture
controlling of robots. In this Presentation, various methodologies
have been analysed and reviewed with their merits and
demerits under various operational and functional strategies.
The sophistication of technologies like programmable glove,
static cameras etc., making them obsolete.
Although recent researches in this field have made wireless
gesture controlling a ubiquitous phenomenon, it needs to
acquire more focus in relevant areas of applications like home
appliances, wheelchairs, artificial nurses, table
top screens etc. in a collaborative manner.