1

LIST OF FIGURES

S.NO. Name of Figures Page No.
1.1.1 War field spy robot 5
1.1.2 Pin Diagram of PIC16F877 Microcontroller 7
2.3.1 Diagram of a Bluetooth Module HC-05 14
2.4.1 Diagram of Wireless Camera & Receiver 16
2.5.1 Diagram of Metal Detector 18
2.6.1 Diagram of Laser Light 19
2.7.1 Diagram showing attachment of parts1 of gripper 22
2.7.2 Diagram showing attachment of parts2 of gripper 23
2.8.1 Diagram of Robot Chassis 24
2.9.1 Diagram of D.C Motor 25
2.10.1 L293D Integrated Circuit 26
2.10.2 Pin Diagram of L239d with I/O Connections 27
2.10.3 Pin Diagram of L293D 28
2.11.1 Diagram of Battery 29
2.12.1 Diagram of Wheel 30
2.13.1 Diagram Showing 7805 IC 31
2.13.2 Diagram Showing Pin of 7805 IC 31
2.14.1 Diagram of DPDT Switch 32
2.15.1 Diagram of LM35 Sensor 33
2.16.1 Diagram of LM324 IC 34
2.16.2 Pin Description of LM324 IC 34
2.17.1 Diagram Showing Types of Potentiometer 35
2.17.2 Symbol of potentiometer 35
2.18.1 Symbol of Resistance 36
2.18.2 Actual View of Resistance 36
2.19.1 Schematic of Diode 37
2

2.19.2 Diagram Showing Diode 37
2.20.1 Different types of capacitor 38
2.20.2 Diagram of Ceramic Capacitor 38
2.21.1 Diagram showing LEDs 39
2.22.1 Diagram of Crystal Oscillator 40
2.22.1 Quartz crystal resonator and quartz crystal oscillator 40
3.1.1 Process of Etching 41
3.2.1 Process of Drilling 42
3.3.1 Process of Soldering 43
3.4.1 PCB of War Field Spy Robot 44
4.2.1 Circuit Diagram of robot 47




















3


CHAPTER-1
INTRODUCTION
1.1 Statement of Problem-
This project is introducing the robot which is used to minimize human casualties in
terrorist attack such as 26/11. The combat robot has been designed to tackle such a
cruel terror attacks. This robot is Bluetooth operated; self- powered, and has all the
controls like a normal car. A wireless camera has been installed on it, so that it can
monitor enemy remotely when required. This robot can silently enter into enemy
area and send us all the information through its tiny Camera eyes. A shooting gun
mechanism has been mounted on the top of the robot for shooting the enemies.
Gripper is used to pick up the bomb and placed it in safe place for the disposal
through shooting gun. A temperature module is used to detect the temperature,
whether it is increasing or not. A metal detector is used to detect whether the bomb
is implanted in the ground on detecting metal it will glow up the LED which should
be seen by the camera in the control room. All this controlling of the robot is done
by android application. This spy robot can be used in star hotels, shopping malls,
jewelry show rooms, etc. where there can be threat from intruders or terrorists. As
we all know, these days India is sick off massive terror attacks, bomb explosions at
plush resorts. Since human life is always precious, these robots are the replacement
of fighters against terrorist in war areas. To avoid such disasters Technological
power must exceed Human power. Human life and time are priceless. We have
taken an initiative to design a model of an apt robot that meets combatant needs. So
to avoid terror attacks, to ensure more security at the border and high density areas
its wise to maintain a world class military technology in accordance with
combatant needs.

Fig 1.1.1 War field spy robot
4



1.2 ORGANIZATION OF REPORT
We have started our report with certificate, acknowledgement and abstract thereby
numbered as i, ii and iii. The abstract represents a 1-page summary of our project
highlighting its salient features. We have made sure that every item in the report has
a page number to it. All the content of the file should be in correct format and
should be properly arranged.
Chapter 1 is introduction. It states the primary requirement of our circuit and how
we achieved it. The overview of the project has been elaborated by giving an idea
of the project work. It comprises all the aspect of the project regarding why we are
making this project.
Chapter 2 is literature survey. In this section, we have seen the different aspects
in which our project could have been made, i.e., by using Bluetooth module, by
using android application, by using temperature module. All the components that
should be used in the project come in this section.
Chapter 3 is our work emphasizing our contribution. In this chapter we have
shown the problems we faced while designing and making the circuit and how we
have overcome them. For example, how we have achieved the wireless
communication, how we found out the frequency of the working circuit, how we
have established the interfacing between the different components in the war field
spy robot.
Chapter 4 is implementation and results. This chapter constitutes the circuit
diagram, its working description, the various components and measuring
instruments used in this project and the result we finally obtained. All the software
that was used in designing the circuit and for programming the microcontroller was
discussed in this section.
Chapter 5 is conclusion and future work. In this section we discuss the future
scope of our project. Concluded all the aspects that should be used while making
the project & applications of the project.
Chapter 6 is bibliography in which we have given the references from where we
acquired all the suitable data for this report.

5


CHAPTER-2
LITERATURE SURVEY
2.1 MICROCONTROLLER (PIC16F77A)
PIC16F73/76 devices are available only in 28-pin packages, while PIC16F74/77
devices are available in 40-pin and 44-pin packages. All devices in the PIC16F7X
family share common architecture, with the following differences:
The PIC16F73 and PIC16F76 have one-half of the total on- chip memory of the
PIC16F74 and PIC16F77.
The 28-pin devices have 3 I/O ports, while the 40/44-pin devices have 5.
The 28-pin devices have 11 interrupts, while the 40/44-pin devices have 12.
The 28-pin devices have 5 A/D input channels, while the 40/44-pin devices 8
The Parallel Slave Port is implemented only on the 40/44-pin devices.

Fig 2.1.1 Pin Diagram of PIC16F877 Microcontroller
PIN DESCRIPTION:
MCLR/VPP:
Master Clear (Reset) input or programming voltage input. This pin is an active
low RESET to the device.
RA0 - RA5:
These are the bi-directional Input / output PORTA pins.
RA1, RA2, are the analog inputs 1, analog input2.
RA3 can also be analog input3 or analog reference voltage.RA4 can also be
the clock input to the Timer0 module. Output is open drain
6


OSC1/CLK1:
Oscillator crystal input / External clock source input.
OSC2/CLKO:
Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator
mode. In RC mode, the OSC2 pin outputs CLKO, which has 1/4 the frequency of
OSC1, and denotes the instruction cycle rate.
RC0 RC7:
These are the bidirectional Input / Output PORTC pins.
RC0/T1OSO/ T1CK. RC0 can also be the Timer1 oscillator output or
Timer1
Clock input.
RC1/T1OSI is the Timer1 oscillator input.
RC2/CCP is the Capture1 input/Compare1 output/ PWM1 output.
RC3/SCK/SCL. RC3 can also be the synchronous serial clock input/output
for Both SPI and I2C modes.
RC4/SDI/SDA is the SPI Data In (SPI mode) or Data I/O (I2C mode).
RC5/SDO is e the SPI Data Out (SPI mode).
RC6.
RC7.
VDD:
Positive supply for logic and I/O pins.
RB0 RB7:
These are the bi-directional I/O PORTB pins. PORTB can be software
programmed for internal weak pull-up on all inputs.
RB0/IN is the external interrupt pin.
RB1, RB2, RB3 are the bi-directional pins.
RB4 is the Interrupt-on-change pin.
RB5 is the Interrupt-on-change pin.
7


RB6/PGC is the Interrupt-on-change pin. Serial programming clock.
RB7/PGD is the Interrupt-on-change pin. Serial programming data.
I / O PORTS:
Some pins for these I/O ports are multiplexed with an alternate function for
the peripheral features on the device. In general, when a peripheral is enabled, that
pin may not be used as a general purpose I/O pin. Additional information on I/O
ports may be found in the PIC micro Mid-Range MCU Reference Manual,
(DS33023).

PORTA and the TRISA Register:
PORTA is a 6-bit wide, bi-directional port. The corresponding data direction
register is TRISA. Setting a TRISA bit (= 1) will make the corresponding PORTA
pin an input (i.e., put the corresponding output driver in a Hi-Impedance mode).
Clearing a TRISA bit (= 0) will make the corresponding PORTA pin an output (i.e.,
put the contents of the output latch on the selected pin. Reading the PORTA
register, reads the status of the pins, whereas writing to it will write to the port latch.
All write operations are read-modify-write operations. Therefore, a write to a port
implies that the port pins are read, this value is modified and then written to the port
data latch Pin RA4 is multiplexed with the Timer0 module clock input to become
the RA4/T0CKI pin. The RA4/T0CKI pin is an Schmitt Trigger input and an open
drain output. All other RA port pins have TTL input levels and full CMOS output
drivers. Other PORTA pins are multiplexed with analog inputs and analog VREF
input. The operation of each pin is selected by clearing/setting the control bits in the
ADCON1 register (A/D Control Register1). Other PORTA pins are multiplexed
with analog inputs and analog VREF input. The operation of each pin is selected by
clearing/setting the control bits in the ADCON1 register (A/D Control Register1).
Other PORTA pins are multiplexed with analog inputs and analog VREF input. The
operation of each pin is selected by clearing/setting the control bits in the ADCON1
register (A/D Control Register1). The TRISA register controls the direction of the
RA pins, even when they are being used as analog inputs. The user must ensure the
bits in the TRISA register are maintained set when using them as analog inputs.
PORTB and the TRISB Register:
PORTB is an 8-bit wide, bi-directional port. The corresponding data direction
register is TRISB. Setting a TRISB bit (= 1) will make the corresponding PORTB
pin an input (i.e., put the corresponding output driver in a Hi-Impedance mode). A
single control bit can turn on all the pull-ups. This is performed by clearing bit
RBPU (OPTION<7>). The weak pull-up is automatically turned off when the port
pin is configured as an output. The pull-ups are disabled on a Power-on Reset.
8


Four of PORTBs pins, RB7:RB4, have an interrupt-on-change feature. Only pins
will be configured as inputs can cause this interrupt to occur (i.e., any RB7:RB4
pin configured as an output is excluded from the interrupt on change comparison).
The input pins (of RB7:RB4) are compared with the old value latched on the last
read of PORTB. The mismatch outputs of RB7:RB4 are ORd together to
generate the RB Port Change Interrupt with flag bit RBIF (INTCON<0>).
PORTC and the TRISC Register:
PORTC is an 8-bit wide, bi-directional port. The corresponding data direction
register is TRISC. Setting a TRISC bit (= 1) will make the corresponding PORTC
pin an input (i.e., put the corresponding output driver in a Hi-Impedance mode).
Clearing a TRISC bit (= 0) will make the corresponding PORTC pin an output (i.e.,
put the contents of the output latch on the selected pin). PORTC is multiplexed with
several peripheral functions. PORTC pins have Schmitt Trigger input buffers.
When enabling peripheral functions, care should be taken in defining TRIS bits for
each PORTC pin. Some peripherals override the TRIS bit to make a pin an out-put,
while other peripherals override the TRIS bit to make a pin an input. Since the
TRIS bit override is in effect while the peripheral is enabled, read-modify-write
instructions (BSF, BCF, XORWF) with TRISC as destination should be avoided.
The user should refer to the corresponding peripheral section for the correct
TRIS bit settings.

Capture Mode:
In Capture mode, CCPR1H: CCPR1L captures the 16-bit value of the TMR1
register when an event occurs on pin RC2/CCP1. An event is defined as a:
Every falling edge
Every rising edge
Every 4th rising edge
Every 16th rising edge
An event is selected by control bits CCP1M3:CCP1M0 (CCP1CON<3:0>).
When a capture is made, the interrupt request flag bit CCP1IF (PIR1<2>) is set. It
must be cleared in software. If another capture occurs before the value in register
CCPR1 is read, the old captured value is overwritten by the new captured value.

Compare Mode:
In Compare mode, the 16-bit CCPR1 register value is constantly compared against
the TMR1 register pair value. When a match occurs, the RC2/CCP1 pin is:
9


Driven High
Driven Low
Remains Unchanged
The action on the pin is based on the value of control bits CCP1M3: CCP1M0
(CCP1CON<3:0>). At the same time, interrupt flag bit CCP1IF is set. The output
may become inverted when the mode of the module is changed from
Compare/Clear on Match (CCPxM<3:0> = 1001) to Compare/Set on Match
(CCPxM<3:0> = 1000). This may occur as a result of any operation that
selectively clears bit CCPxM0, such as a BCF instruction. When this condition
occurs, the output becomes inverted when the instruction is executed. It will remain
inverted for all following Compare operations, until the module is reset.

ANALOG-TO-DIGITAL CONVERTER (A/D) MODULE:
The analog-to-digital (A/D) converter module has five inputs for the
PIC16F72. The A/D allows conversion of an analog input signal to a corresponding
8-bit digital number. The output of the sample and hold is the input into the
converter, which generates the result via successive approximation. The analog
reference voltage is software selectable to either the devices positive supply
voltage (VDD) or the voltage level on the RA3/AN3/VREF pin.
The A/D converter has a unique feature of being able to operate while the
device is in SLEEP mode. To operate in SLEEP, the A/D conversion clock must be
derived from the A/Ds internal RC oscillator.
The A/D module has three registers:
A/D Result Register ADRES
A/D Control Register 0 ADCON0
A/D Control Register 1 ADCON1
A device RESET forces all registers to their RESET state. This forces the
A/D module to be turned off and any conversion is aborted. The ADCON0 register,
shown in Register 10-1, controls the operation of the A/D module. The ADCON1
register, shown in Register 10-2, configures the functions of the
port pins. The port pins can be configured as analog inputs (RA3 can also be a
voltage reference) or a digital I/O.




10


OSCILLATOR CONFIGURATIONS:
The PIC16F72 can be operated in four different Oscillator modes. The user can
program two configuration bits (FOSC1 and FOSC0) to select one of these four
Modes:
LP Low Power Crystal
XT Crystal/Resonator
HS High Speed Crystal/Resonator
RC Resistor/Capacitor
RESET:
The PIC16F72 differentiates between various kinds of RESET:
Power-on Reset (POR)
MCLR Reset during normal operation
MCLR Reset during SLEEP
WDT Reset (during normal operation)
WDT Wake-up (during SLEEP)
Brown-out Reset (BOR)
Some registers are not affected in any RESET condition. Their status is
unknown on POR and unchanged in any other RESET. Most other registers are
reset to a RESET state on Power-on Reset (POR), on the MCLR and WDT Reset,
on MCLR Reset during SLEEP, and Brown-out Reset (BOR). They are not affected
by a WDT Wake-up, which is viewed as the resumption of normal operation. The
TO and PD bits are set or cleared differently in different RESET situations, as
indicated in Table 11-4. These bits are used in software to determine the nature of
the RESET.

Power-on Reset (POR):
A Power-on Reset pulse is generated on-chip when VDD rise is detected (in
the range of 1.2V - 1.7V). To take advantage of the POR, tie the MCLR pin to
VDD, A maximum rise time for VDD is specified. When the device starts normal
operation (exits the RESET condition), device-operating parameters (volt-age,
frequency, temperature,) must be met to ensure operation. If these conditions are
not met, the device must be held in RESET until the operating conditions met.

11


Power-up Timer (PWRT):
The Power-up Timer provides a fixed 72 ms nominal time-out on power-up only
From the POR. The Power-up Timer operates on an internal RC oscillator. The chip
is kept in RESET as long as the PWRT is active. The PWRTs time delay allows
VDD to rise to an acceptable level.
A configuration bit is provided to enable/ disable the PWRT. The power-up time
delay will vary from chip to chip due to VDD, temperature and process variation.

Oscillator Start-up Timer (OST):
The Oscillator Start-up Timer (OST) provides 1024 oscillator cycles (from OSC1
input) delay after the PWRT delay is over (if enabled). This helps to ensure that the
crystal oscillator or resonator has started and stabilized. The OST time-out is
invoked only for XT, LP and HS modes and only on Power-on Reset or wake-up
from SLEEP.

Brown-out Reset (BOR):
The configuration bit, BOREN, can enable or disable the Brown-out Reset
circuit. If VDD falls below VBOR (parameter D005, about 4V) for longer than
TBOR (parameter #35, about 100 s), the brown-out situation will reset the device.
If VDD falls below VBOR for less than TBOR, a RESET may not occur. Once the
brown-out occurs, the device will remain in Brown-out Reset until VDD rises above
VBOR. The Power-up Timer then keeps the device in RESET for TPWRT
(parameter #33, about 72 ms). If VDD should fall below VBOR during TPWRT,
the Brown-out Reset process will restart when VDD rises above VBOR, with the
Power-up Timer Reset. The Power-up Timer is always enabled when the Brown-out
Reset circuit is enabled, regardless of the state of the PWRT configuration bit.

Power Control/Status Register (PCON):
The Power Control/Status Register, PCON, has two bits to indicate the type
of RESET that last occurred. Bit0 is Brown-out Reset Status bit, BOR. Bit BOR is
unknown on a Power-on Reset. It must then be set by the user and checked on
subsequent RESETS to see if bit BOR cleared, indicating a Brown-out Reset
occurred. When the Brown-out Reset is disabled, the state of the BOR bit is
unpredictable.Bit1 is POR (Power-on Reset Status bit). It is cleared on a Power-on
Reset and unaffected otherwise. The user must set this bit following a Power-on
Reset.

12



2.3. BLUETOOTH MODULE
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup. Serial port Bluetooth
module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR
Bluecore 04-External single chip Bluetooth system with CMOS technology and
with AFH (Adaptive Frequency Hopping Feature). It has the footprint as small as
12.7mmx27mm. Hope it will simplify your overall design/development cycle.
Bluetooth Module is a Drop-in replacement for wired serial connections,
transparent usage. You can use it simply for serial port replacement to establish
connection between MCU and GPS, PC to your embedded project / Robot etc. The
module can be configured for baud rates 1200 to 115200 bps. This is a Slave mode
only Bluetooth Device. If you need a Master/Slave switchable device refer to this
product: Bluetooth UART Module
Hardware features
Typical -80dBm sensitivity
Up to +4dBm RF transmit power
Low Power 1.8V Operation ,1.8 to 3.6V I/O
PIO control
UART interface with programmable baud rate
With integrated antenna
With edge connector

Software features
Given a rising pulse in PIO0, device will be disconnected.
Status instruction port PIO1: low-disconnected, high-connected;
Auto-connect to the last device on power as default.
Permit pairing device to connect as default.
Auto-pairing PINCODE:0000 as default
Auto-reconnect in 30 min when disconnected as a result of beyond the range
of connection.

Fig.2.3.1 Diagram of a Bluetooth Module HC-05
13


2.4. WIRELESS CAMERA
Wireless A/V camera high receive sensitivity +18dB,Receive signal picture sound
0.9G/1.2G.with high quality output . RM0100 is a Wireless A/V camera high
receives sensitivity +18dB, Receive signal picture sound 0.9G/1.2G.with high
quality output. The RM0100 is a 2.4 GHz wireless camera works at ISM band. It
may cause interferences with other wireless equipment that operates at the same
band. The Camera Transmitter with Receiver Set suitable for monitoring the robot,
children and elders, and widely used for theft prevention, after-hours surveillance,
home security, for household, companies, shops, factories, security CCTV system
kit. We can view the cameras on your TV or record directly to VCR. The Wireless
Camera and Receiver will provide a day and night monitoring solution with the
convenience of wireless technology. RM0100 wireless camera meets wireless
frequency security standards and recommends indexes while working. These
standards and indexes are certificated by academic organization and represent the
cogitative research of the scientific workers who continuously explore and annotate
the involved fields.

Features-
New and high quality
380TV lines picture display
Low radiation, safe and healthy
Built-in microphone for audio monitoring
Including adaptive bracket, easy installation
Suitable for monitoring children, elders and widely used for theft prevention,
after hours surveillance, home security, etc.

Specifications-
Camera: A Night vision enables no light or low light usage. High-quality picture
transmitting and receiving.
Transmit distant up to 200 Ft.
Kit Includes:
1 x Wireless 1/3" 380TVL Pinhole Camera Transmitter with Receiver Set
1 x Antenna
1 x 110V /220V AC Adapter for the camera (camera can either use battery or
the power adapter)
1 x 8V Battery Adapter clip (for camera uses battery)
1 x 110v /220V AC Adapter for the receiver
1 x Video Cable (from Transmitter to your TV/VCR)
14


General Characteristics
Type Camera and Accessories
Product ID RM0100
Dimension (120 x 75 x 30) mm
Weight 400 g m
Frequency 2.5 GHz
Output Type Wireless A / V Transmission
Image Acquisition Property
Acquisition Size 628 x 582
Output Format PAL / NTSC
Power Supply
Type DC
Operating Voltage 9 V
Operating Current 500 mA

Fig 2.4.1 Diagram of Wireless Camera & Receiver
15


2.5. METAL DETECTOR
A metal detector is a portable electronic instrument which detects the presence of
metal nearby. Metal detectors are useful for finding metal inclusions hidden within
objects, or metal objects buried underground. They often consist of a handheld unit
with a sensor probe which can be swept over the ground or other objects. If the
sensor comes near a piece of metal this is indicated by a changing tone in
earphones, or a needle moving on an indicator. Usually the device gives some
indication of distance; the closer the metal is, the higher the tone in the earphone or
the higher the needle goes. Another common type are stationary "walk through"
metal detectors used for security screening at access points in prisons, courthouses,
and airports to detect concealed metal weapons on a person's body. The simplest
form of a metal detector consists of an oscillator producing an alternating current
that passes through a coil producing an alternating magnetic field. If a piece of
electrically conductive metal is close to the coil, eddy currents will be induced in
the metal, and this produces a magnetic field of its own. If another coil is used to
measure the magnetic field, the change in the magnetic field due to the metallic
object can be detected.
The first industrial metal detectors were developed in the 1960s and were used
extensively for mineral prospecting and other industrial applications. Uses
include de-mining the detection of land mines, the detection of weapons such as
knives and guns especially in airport security, geophysical prospecting, and treasure
Hunting. Metal detectors are also used to detect foreign bodies in food, and in the
construction industry to detect steel reinforcing bars in concrete and pipes and wires
buried in walls and floors.
METAL DETECTOR SENSOR USED K1208065-
Model: K1208065
Quantity: 1
Color: Silver + Black
Material: PVC + metal
Working voltage: DC 5~36V
Output type: Three-wire PNP positive logic output
Detection distance: 0~4ms
Switch type: Electric sensor
Diameter: 12mm
12cm threaded installation

16



Switch type is high-frequency oscillation, no contact, no pressure, no
sparking
Quickly issued a detection signal to drive the relay or logic gates
High sensitivity and fast frequency response, high repeatability accuracy,
short change process, big output power, high anti-interference performance,
working stability and reliable, long life, anti-shock and water resistant.


Fig 2.5.1 Diagram of Metal Detector
Inductive Proximity Sensor-
Inductive proximity sensors operate under the electrical principle of inductance.
Inductance is the phenomenon where a fluctuating current, which by definition has
a magnetic component, induces an electromotive force (emf) in a target object. To
amplify a devices inductance effect, a sensor manufacturer twists wire into a tight
coil and runs a current through it. An inductive proximity sensor has four
components; the coil, oscillator, detection circuit and output circuit. The oscillator
generates a fluctuating magnetic field the shape of a doughnut around the winding
of the coil that locates in the devices sensing face. When a metal object moves into
the inductive proximity sensors field of detection, Eddy circuits build up in the
metallic object, magnetically push back, and finally reduce the Inductive sensors
own oscillation field. The sensors detection circuit monitors the oscillators
strength and triggers an output from the output circuitry when the oscillator
becomes reduced to a sufficient level.

Fig 2.5.2 Internal Diagram of Metal Detector
17


2.6. LASER-(SHOOTING GUN)
A laser is a device that emits light through a process of optical amplification based
on the stimulated emission of electromagnetic radiation. The term "laser" originated
as an acronym for "light amplification by stimulated emission of radiation". Lasers
differ from other sources of light because they emit light coherently. Spatial
coherence allows a laser to be focused to a tight spot, enabling applications
like laser cutting and lithography. Spatial coherence also allows a laser beam to stay
narrow over long distances (collimation), enabling applications such as laser
pointers. Lasers can also have high temporal coherence which allows them to have
a very narrow spectrum, i.e., they only emit a single color of light. Temporal
coherence can be used to produce pulses of lightas short as a femtosecond.
Lasers have many important applications. They are used in common consumer
devices such as DVD players, laser printers, and barcode scanners. They are used in
medicine for laser surgery and various skin treatments, and in industry for cutting
and welding materials. They are used in military and law enforcement devices for
marking targets and measuring range and speed. Laser lighting displays use laser
light as an entertainment medium. Lasers also have many important applications in
scientific research.
Laser is used for shooting gun purpose. Laser will work same like a gun whenever
trigger is pressed it will shoot. Laser triggering is interfaced with the
microcontroller when the switched is pressed at the controller unit laser will be
triggered ON. In this way the shooting gun mechanism will work in the robot.
The application of using the shooting gun mechanism is that we will shoot the
enemies in the war field or it is used in disposing the bombs.


Fig 2.6.1 Diagram of Laser Light
18


2.7. GRIPPER
One of the most important areas in the design of robot systems is the design of end
effectors. Most of the problems that occur in production are caused by badly
designed tooling and not by faults in the robots. There are many different types of
gripper available along with the vast number of specialist tools for nut running, arc
welding, paint spraying etc. These grippers are not used solely with robots however.
They can be used for fix Turing components anywhere in an automated or semi-
automated line.
Gripper Types-
The most commonly used grippers are finger grippers. These will generally have
two opposing fingers or three fingers like a lathe chuck. The fingers are driven
together such that once gripped any part is centered in the gripper. This gives some
flexibility to the location of components at the pick-up point. Two finger grippers
can be further split into parallel motion or angular motion fingers.
For some tasks however where flexible or fragile objects are being handled the use
of either vacuum or magnetic grippers is preferable. With these the surface of the
gripper is placed in contact with the object and either a magnetic field or a vacuum
is applied to hold them in contact. Any errors in placement of the object at the pick-
up point will be reflected in a similar error at the destination so these grippers are
not usually used for high accuracy applications.
Accessories-
Along with a wide range of standard grippers being available there are also a
number of standard accessories for mounting them. If motion of the gripper is
required which cannot easily be provided by the robot then this can be provided in
the end effector. Linear and rotary units are available in many different
configurations.
Gripper Drives-
The same options are available for grippers as for robots. The most popular one
here is pneumatic however because of the ease with which it can be supplied to the
end of a robot arm and controlled. The only disadvantages of pneumatics are that it
has a slightly lower power to weight ratio than hydraulics and it is not as
controllable or easy to feed as electricity. In most situations however these are not
important.
Environmental capabilities-
End effectors are often required to work in hostile environments. High
temperatures, dust or the presence of chemicals will require special materials or
designs to be used.
19


Sensor capabilities-
For certain applications some degree of sensory feedback from the gripper is
necessary. This may be measurement of insertion or gripping forces or may simply
be a proximity sensor to say if anything is between the jaws of the gripper. Some
standard grippers are provided with feedback to show the separation of the jaws but
most grippers have no feedback.
Others-
Other factors to be considered include the speed of the gripper jaws and the range of
sizes of component they can grip. The amount of maintenance required is also
important though most modern mechanisms require little or no maintenance. For
some situations the behavior of the gripper on power failure may be critical. Some
but not all use either springs to apply the gripping force or non-return valves to
ensure that pressure is maintained.
Gripper Design Considerations-
When selecting a gripper there are a number of factors that may need consideration.
Gripping force-
When considering the gripping force required a number of factors must be
considered. Not only must the mass of the object to be gripped be taken into
account but also the accelerations imposed on it by the robot. Where accelerations
are not known a figure of 2.5g is generally assumed. The coefficient of friction
between the gripper and the object may also be an important factor. This can often
be increased by using one of the special rubber based materials that have been
developed. The use of these materials can create maintenance issues however as
they have a finite life.
One other way of reducing the gripping force required is to use fingers designed for
the form of the component. This reduces the flexibility of the gripper but
dramatically increases the weight carrying capacity.
Weight-
Industrial robots have fixed lifting capabilities and the combined weight of the
gripper and gripped component may be important. Even where this weight is within
the capability of the robot it may cause an unacceptable increase in the cycle time of
the operation. The distance between the robot flange and the centre of mass may
also be important and this should be kept to a minimum.
Supply of services-With robot end effectors loose cable or hoses are something to
be avoided. They increase the size of the tool (making it harder to reach into
confined spaces) and cause many failures due to rubbing or snagging on other parts
of the mechanism.

20

Gripper Fixing Steps-

Fig 2.7.1 Diagram showing stepwise attachment of parts of gripper

21


Fig 2.7.2 Diagram showing stepwise attachment of parts of gripper
22


2.8. CHASSIS
In an electronic device the chassis consists of a frame or other internal supporting
structure on which the circuit boards and other electronics are mounted. In the
absence of a metal frame the chassis refers to the circuit boards and components
themselves, not the physical structure. The combination of chassis and outer
covering is sometimes called an enclosure. On chassis all the components are
mounted. It is simply a platform on which all the elements are fixed like D.C motor,
Battery, Gripper, Metal detector, Bluetooth module, Temperature module, Laser for
Shooting Gun Mechanism, Wireless camera.
Chassis Board is the mechanical frame structure of the mobile robots. It should is
the backbone of the robot. We arrange/connect everything like motors, sensors,
wheels, development board, studs, clamps, screws, etc. It give us the base to build
our robot and allow us place our components according to our requirements.
Material of the Chassis:
The material of chassis should be:-
1. High durable
2. High non- flexible
3. More strength
4. Light weight
5. Has potential safety hazards
6. Can be re shape easily
7. Resistant to corrosion
8. Compression and depression
9. Highly rigid


Fig 2.8.1 Diagram of Robot Chassis
23


2.9. D.C.MOTOR
A DC motor is a mechanically commutated electric motor powered from direct
current (DC). The stator is stationary in space by definition and therefore so is its
current. The current in the rotor is switched by the commutator to also be stationary
in space. This is how the relative angle between the stator and rotor magnetic flux is
maintained near 90 degrees, which generates the maximum torque. DC motors have
a rotating armature winding but non-rotating armature magnetic field and a static
field winding or permanent magnet. Different connections of the field and armature
winding provide different inherent speed/torque regulation characteristics. The
speed of a DC motor can be controlled by changing the voltage applied to the
armature or by changing the field current. The introduction of variable resistance in
the armature circuit or field circuit allowed speed control. Modern DC motors are
often controlled by power electronics systems called DC drives. The introduction of
DC motors to run machinery eliminated the need for local steam or internal
combustion engines, and line shaft drive systems. DC motors can operate directly
from rechargeable batteries, providing the motive power for the first electric
vehicles. Today DC motors are still found in applications as small as toys and disk
drives, or in large sizes to operate steel rolling mills and paper machines.
Working of centered shaft gear box of DC motor-
The working of the gears is very interesting to know. It can be explained by the
principle of conservation of angular momentum. The gear having smaller radius
will cover more RPM than the one with larger radius. However, the larger gear will
give more torque to the smaller gear than vice versa. The comparison of angular
velocity between input gear (the one that transfers energy) to output gear gives the
gear ratio. When multiple gears are connected together, conservation of energy is
also followed. The direction in which the other gear rotates is always the opposite
of the gear adjacent to it. In any DC motor, RPM and torque are inversely
proportional Hence the gear having more torque will provide a lesser RPM and
converse.

Fig 2.9.1 Diagram of D.C Motor
24



2.10 MOTOR DRIVER
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as
current amplifiers since they take a low-current control signal and provide a higher-
current signal. This higher current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and
reverse direction. The motor operations of two motors can be controlled by input
logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding
motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions,
respectively.

Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to
start operating. When an enable input is high, the associated driver gets enabled. As
a result, the outputs become active and work in phase with their inputs. Similarly,
when the enable input is low, that driver is disabled, and their outputs are off and in
the high-impedance state.

Fig 2.10.1 L293D Integrated Circuit
L293D Connections
The circuit shown to the right is the most basic implementation of L293D IC. There
are 16 pins sticking out of this IC and we have to understand the functionality of
each pin before implementing this in a circuit.
1. Pin1 and Pin9 are "Enable" pins. They should be connected to +5V for the
drivers to function. If they pulled low (GND), then the outputs will be turned
off regardless of the input states, stopping the motors. If you have two spare
pins in your microcontroller, connect these pins to the microcontroller, or just
connect them to regulated positive 5 Volts.
25


2. Pin4, Pin5, Pin12 and Pin13 are ground pins which should ideally be
connected to microcontroller's ground.
3. Pin2, Pin7, Pin10 and Pin15 are logic input pins. These are control pins
which should be connected to microcontroller pins. Pin2 and Pin7 control the
first motor (left); Pin10 and Pin15 control the second motor(right).
4. Pin3, Pin6, Pin11, and Pin14 are output pins. Tie Pin3 and Pin6 to the first
motor, Pin11 and Pin14 to second motor
5. Pin16 powers the IC and it should be connected to regulated +5Volts
6. Pin8 powers the two motors and should be connected to positive lead of a
secondary battery. As per the datasheet, supply voltage can be as high as 36
Volts.









Fig 2.10.2 Pin Diagram of L239d with I/O Connections
Truth table-
Pin 1 Pin 2 Pin 7 Function
High High Low Turn Anti-clockwise (Reverse)
High Low High Turn clockwise (Forward)
High High High Stop
High Low Low Stop
Low X X Stop
26


In the above truth table you can observe that if Pin1 (E1) is low then the motor
stops, irrespective of the states on Pin2 and Pin7. Hence it is essential to hold E1
high for the driver to function, or simply connect enable pins to positive 5 volts.
With Pin1 high, if Pin2 is set high and Pin7 is a pulled low, then current flow from
Pin2 to Pin7 driving the motor in anti-clockwise direction. If the states of Pin2 and
Pin7 are flipped, then current flows from Pin7 to Pin2 driving the motor in
clockwise direction. The above concept holds true for other side of the IC too.


Fig 2.10.3 Pin Diagram of L293D
Pin No Function Name
1 Enable pin for Motor 1; active high Enable 1,2
2 Input 1 for Motor 1 Input 1
3 Output 1 for Motor 1 Output 1
4 Ground (0V) Ground
5 Ground (0V) Ground
6 Output 2 for Motor 1 Output 2
7 Input 2 for Motor 1 Input 2
8 Supply voltage for Motors; 9-12V (up to 36V) Vcc
9 Enable pin for Motor 2; active high Enable 3,4
10 Input 1 for Motor 1 Input 3
11 Output 1 for Motor 1 Output 3
12 Ground (0V) Ground
13 Ground (0V) Ground
14 Output 2 for Motor 1 Output 4
15 Input2 for Motor 1 Input 4
16 Supply voltage; 5V (up to 36V) Vcc
1

27



2.11 BATTERY
Sealed Lead Calcium Maintenance Free Battery is an advanced and economic
rechargeable battery. It has several properties different from other types of batteries
Maintenance Free - As it is valve-regulated, sealed and glass-mat is utilized, acid is
trapped inside. So, refilling is not needed and is leak proof. Discharge voltage
remains stable even in conditions of high-rate discharge current for equipment
needing a high-rate discharge current, it's far more stable than other battery types.
No Memory Effect -Some batteries, say nickel-cadmium batteries, will become
conditioned to provide small power after repetitious short usage/discharge. Low
Self Discharge - The self-discharge rate for SMF battery is about 2-3% per month at
room temperature compared with 20-30% for other common battery systems Long
Service Life - Utilizing thick and massive calcium grids, SMF battery has a long
service life High. Discharge Rate - Since the internal resistance is low, the battery
can provide high rate of discharge. Wide Operating Temperature Range - SMF
battery is rated at 200C and will operate from - 600C to +600C when it is fully
charged.

Power Supply
Type DC
Cycle Use 14.4V-15.0V
Output Power 12V 1.3A
Standby Use 13.5V-13.8V
Initial Current Less than 0.39A

Powered by

Fig 2.11.1 Diagram of Battery
28


2.12 WHEELS
A wheel is a circular component that is intended to rotate on an axial bearing. The
wheel is one of the main components ofthe wheel and axle which is one of the six
simple machines. Wheels, in conjunction with axles, allow heavy objects to be
moved easily facilitating movement or transportation while supporting a load, or
performing labor in machines.
A tire (or tyre) is a ring-shaped covering that fits around a wheel's rim to protect it
and enable better vehicle performance The materials of modern pneumatic tires are
synthetic rubber, natural rubber, fabric and wire, along with carbon black and other
chemical compounds. They consist of a tread and a body. The tread provides
traction while the body provides containment for a quantity of compressed air.
Performance Characteristics-
Rolling Resistance
Balance

Specifications-
Width of the tire- 20mm
Diameter of the tire- 100mm
Diameter of the shaft hole- 6mm


Fig 2.12.1 Diagram of Wheel
29


2.13 VOLTAGE REGULATOR-7805
A voltage regulator is designed to automatically maintain a constant voltage level.
A voltage regulator may be a simple "feed-forward" design or may include negative
feedback control loops. It may use an electromechanical mechanism, or electronic
components. Depending on the design, it may be used to regulate one or
more AC or DC voltages. Electronic voltage regulators are found in devices such as
computer power supplies where they stabilize the DC voltages used by the
processor and other elements. In automobile alternators and central power
station generator plants, voltage regulators control the output of the plant. In
an electric power distribution system, voltage regulators may be installed at a
substation or along distribution lines so that all customers receive steady voltage
independent of how much power is drawn from the line.
It is a three pin IC used as a voltage regulator. It converts unregulated DC current
into regulated DC current.7805 is a voltage regulator integrated circuit. It is a
member of 78xx series of fixed linear voltage regulator ICs. The voltage source in a
circuit may have fluctuations and would not give the fixed voltage output. The
voltage regulator IC maintains the output voltage at a constant value. The xx in
78xx indicates the fixed output voltage it is designed to provide.7805 provides +5V
regulated power supply. Capacitors of suitable values can be connected at input and
output pins depending upon the respective voltage levels.

Fig 2.13.1 Diagram Showing 7805 IC

Fig 2.13.2 Diagram Showing Pin of 7805 IC
30


2.14 SWITCH
In electrical engineering, a switch is an electrical component that can break an
electrical circuit, interrupting the current or diverting it from one conductor to
another.
The most familiar form of switch is a manually operated electromechanical device
with one or more sets of electrical contacts, which are connected to external
circuits. Each set of contacts can be in one of two states: either "closed" meaning
the contacts are touching and electricity can flow between them, or "open", meaning
the contacts are separated and the switch is non-conducting. The mechanism
actuating the transition between these two states (open or closed) can be either a
"toggle" (flip switch for continuous "on" or "off") or "momentary" (push-for "on" or
push-for "off") type.
A switch may be directly manipulated by a human as a control signal to a system,
such as a computer keyboard button, or to control power flow in a circuit, such as
a light switch. Automatically operated switches can be used to control the motions
of machines, for example, to indicate that a garage door has reached its full open
position or that a machine tool is in a position to accept another workpiece.
Switches may be operated by process variables such as pressure, temperature, flow,
current, voltage, and force, acting as sensors in a process and used to automatically
control a system.
An ideal switch would have no voltage drop when closed, and would have no limits
on voltage or current rating. It would have zero rise time and fall time during state
changes, and would change state without "bouncing" between on and off positions.
Practical switches fall short of this ideal; they have resistance, limits on the current
and voltage they can handle, finite switching time, etc.


Fig 2.14.1 Diagram of DPDT Switch
31


2.15 LM35 SENSOR
General Description-
The LM35 series are precision integrated-circuit temperature sensors, whose output
voltage is linearly proportional to the Celsius (Centigrade) temperature. The LM35
thus has an advantage over linear temperature sensors calibrated in Kelvin, as the
user is not required to subtract a large constant voltage from its output to obtain
convenient Centigrade scaling. The LM35 does not require any external calibration
or trimming to provide typical accuracies of 14C at room temperature and
34C over a full 55 to +150C temperature range. Low cost is assured by
trimming and calibration at the wafer level. The LM35s low output impedance,
linear output, and precise inherent calibration make interfacing to readout or control
circuitry especially easy. It can be used with single power supplies, or with plus and
minus supplies. As it draws only 60 A from its supply, it has very low self-
heating, less than 0.1C in still air. The LM35 is rated to operate over a 55 to
+150C temperature range, while the LM35C is rated for a 40 to +110C range
(10 with improved accuracy). The LM35 series is available packaged in hermetic
TO-46 transistor packages, while the LM35C, LM35CA, and LM35D are also
available in the plastic TO-92 transistor package. The LM35D is also available in
an 8-lead surface mount small outline package and a plastic TO-220 package.

Features
n Calibrated directly in Celsius (Centigrade)
n Linear + 10.0 mV/C scale factor
n 0.5C accuracy guarantee able (at +25C)
n Rated for full 55 to +150C range
n Suitable for remote applications
n Low cost due to wafer-level trimming
n Operates from 4 to 30 volts
n Less than 60 A current drain
n Low self-heating, 0.08C in still air
n Nonlinearity only 14C typical




Fig 2.15.1 Diagram of LM35 Sensor

32


2.16 LM324
These circuits consist of four independent, high gains, internally frequency
compensated operational amplifiers.
They operate from a single power supply over a wide range of voltages.
Operation from split power supplies is also possible and the low power
supply current drain is independent of the magnitude of the power supply
voltage.
Operation from split power supplies is also possible so long as the difference
between the two supplies is 3 volts to 32 volts.
Application areas include transducer amplifier, DC gain blocks and all the
conventional OP Amp circuits which now can be easily implemented in
single power supply systems.
Internally Frequency Compensated for Unity Gain
Large DC Voltage Gain: 100dB
Wide Power Supply Range: LM324: 3V~32V (or 1.5 ~16V)
Input Common Mode Voltage Range Includes Ground
Large Output Voltage Swing: 0V to VCC -1.5V





Fig 2.16.1 Diagram of LM324 IC



Fig 2.16.2 Pin Description of LM324 IC
33


2.17 POTENTIOMETER
A potentiometer is a three terminal resistor with a sliding contact that forms an
adjustable voltage divider. If only two terminals are used, one end and the wiper, it
acts as a variable resistor or rheostat.
A potentiometer measuring instrument is essentially a voltage divider used for
measuring electric potential (voltage); the component is an implementation of the
same principle, hence its name.
Potentiometers are commonly used to control electrical devices such as volume
controls on audio equipment. Potentiometers operated by a mechanism can be used
as position transducers, for example, in a joystick. Potentiometers are rarely used to
directly control significant power (more than a watt), since the power dissipated in
the potentiometer would be comparable to the power in the controlled load.
Potentiometer acts as a variable resistor. According to the need the value of
resistance should be changed.


Fig 2.17.1 Diagram Showing Various Types of Potentiometer

Electronic symbol
(International)
(US)
Fig 2.17.2 Symbol of potentiometer
34


2.18 RESISTOR
Resistor is an electrical component that limits or regulates the flow of electrical
current in an electronic circuit. Resistors can also be used to provide a specific
voltage for an active device such as a transistor. All other factors being equal, in a
direct-current (DC) circuit, the current through a resistor is inversely proportional to
its resistance and directly proportional to the voltage across it. This is the well-
known Ohm's Law. In alternating-current (AC) circuits, this rule also applies as
long as the resistor does not contain inductance or capacitance. Resistors can be
fabricated in a variety of ways. The most common type in electronic devices and
systems is the carbon-composition resistor. Fine granulated carbon (graphite) is
mixed with clay and hardened. The resistance depends on the proportion of carbon
to clay; the higher this ratio, the lower the resistance. Resistors are common
elements of electrical networks and electronic circuits and are ubiquitous
in electronic equipment. Practical resistors can be composed of various compounds
and films, as well as resistance wires (wire made of a high-resistivity alloy, such as
nickel-chrome). Resistors are also implemented within integrated circuits,
particularly analog devices, and can also be integrated into hybrid and printed
circuits. Practical resistors have a series inductance and a small parallel capacitance;
these specifications can be important in high-frequency applications. In a low-noise
amplifier or pre-amp, the noise characteristics of a resistor may be an issue. The
unwanted inductance, excess noise, and temperature coefficient are mainly
dependent on the technology used in manufacturing the resistor.

Fig 2.18.1 Symbol of Resistance

Fig 2.18.2 Actual View of Resistance

35


2.19 DIODE
In electronics, a diode is a two-terminal electronic device component with a
asymmetric conductance; it has low (ideally zero) resistance to current in one
direction, and high (ideally infinite) resistance in the other. A semiconductor diode,
the most common type of today in recent days, is a crystalline piece
of semiconductor material with a pn junction connected to two electrical
terminals. A vacuum tube diode has two electrodes, a plate (anode) and a heated
cathode. Semiconductor diodes were the first semiconductor electronic devices. The
discovery of the crystals rectifying abilities was made by the German
physicist Ferdinand Braun in 1874. The first semiconductor diodes, called cat's
whisker diodes, developed around 1906, were made of mineral crystals such
as galena. Today, most diodes are made of silicon, but other semiconductors such
as selenium or germanium are sometimes used.
The most common function of a diode is to allow an electric current to pass in one
direction (called the diode's forward direction), while blocking current in the
opposite direction (the reverse direction). Thus, the diode can be viewed as an
electronic version of a check valve. This unidirectional behavior is
called rectification, and is used to convert alternating current to direct current,
including extraction of modulation from radio signals in radio receivers these
diodes are forms of rectifiers.





Fig 2.19.1 Schematic of Diode





Fig 2.19.2 Diagram Showing Diode

36


2.20 CAPACITOR
A capacitor (originally known as a condenser) is a passive two-terminal electrical
component used to store energy electrostatically in an electric field. The forms of
practical capacitors vary widely, but all contain at least two electrical
conductors (plates) separated by a dielectric (i.e., insulator). The conductors can be
thin films of metal, aluminum foil or disks, etc. The 'non conducting' dielectric acts
to increase the capacitor's charge capacity. A dielectric can be glass, ceramic,
plastic film, air, paper, mica, etc. Capacitors are widely used as parts of electrical
circuits in many common electrical devices. Unlike a resistor, a capacitor does not
dissipate energy. Instead, a capacitor stores energy in the form of an electrostatic
field between its plates. A capacitor is a tool consisting of two conductive plates,
each of which hosts an opposite charge. These plates are separated by a dielectric or
other form of insulator, which helps them maintain an electric charge. There are
several types of insulators used in capacitors. Examples include ceramic, polyester,
tantalum air, and polystyrene. Other common capacitor insulators include air, paper,
and plastic. Each effectively prevents the plates from touching each other. A
capacitor is often used to store analogue signals and digital data. Another type of
capacitor is used in the telecommunications equipment industry. This type of
capacitor is able to adjust the frequency and tuning of telecommunications
equipment and is often referred to a variable capacitor. A capacitor is also ideal for
storing an electron.

Fig 2.20.1 Different types of capacitor

Fig 2.20.2 Diagram of Ceramic Capacitor
37


2.21 LIGHT EMITING DIODE (LED)
A light-emitting diode (LED) is a two-lead semiconductor light source that
resembles a basic p n-junction diode, except that an LED also emits light. When an
LED's anode lead has a voltage that is more positive than its cathode lead by at least
the LED's forward voltage drop, current flows. Electrons are able to recombine
with holes within the device, releasing energy in the form of photons. This effect is
called electroluminescence, and the color of the light (corresponding to the energy
of the photon) is determined by the energy band gap of the semiconductor. An LED
is often small in area (less than 1 mm
2
), and integrated optical components may be
used to shape its radiation pattern. Appearing as practical electronic components in
1962 the earliest LEDs emitted low-intensity infrared light. Infrared LEDs are still
frequently used as transmitting elements in remote-control circuits, such as those in
remote controls for a wide variety of consumer electronics. The first visible-light
LEDs were also of low intensity, and limited to red. Modern LEDs are available
across the visible, ultraviolet, and infrared wavelengths, with very high brightness.
LEDs were often used as indicator lamps for electronic devices, replacing small
incandescent bulbs. They were soon packaged into numeric readouts in the form
of seven-segment displays, and were commonly seen in digital clocks. Recent
developments in LEDs permit them to be used in environmental and task lighting.
LEDs have many advantages over incandescent light sources including lower
energy consumption, longer lifetime, improved physical robustness, smaller size,
and faster switching. Light-emitting diodes are now used in applications as diverse
as aviation lighting, automotive headlamps, advertising, general lighting, traffic
signals, and camera flashes. However, LEDs powerful enough for room lighting are
still relatively expensive, and require more precise current and heat management
than compact fluorescent lamp sources of comparable output. LEDs have allowed
new text, video displays, and sensors to be developed, while their high switching
rates are also useful in advanced communications technology.

Fig 2.21.1 Diagram showing LEDs
38


2.22 CRYSTAL OSCILLATOR
A crystal oscillator is an electronic oscillator circuit that uses the mechanical
resonance of a vibrating crystal of piezoelectric material to create an electrical
signal with a very precise frequency. This frequency is commonly used to keep
track of time (as in quartz wristwatches), to provide a stable clock signal for digital
integrated circuits, and to stabilize frequencies for radio transmitters and receivers.
The most common type of piezoelectric resonator used is the quartz crystal, so
oscillator circuits incorporating them became known as crystal oscillators, but other
piezoelectric materials including polycrystalline ceramics are used in similar
circuits.
Quartz crystals are manufactured for frequencies from a few tens of kilohertz to
tens of megahertz. More than two billion crystals are manufactured annually. Most
are used for consumer devices such as wristwatches, clocks, radios, computers, and
cell phones. Quartz crystals are also found inside test and measurement equipment,
such as counters, signal generators, and oscilloscopes.

Fig 2.22.1 Diagram of Crystal Oscillator

Fig.2.22.2 Quartz crystal resonator (left) and quartz crystal oscillator (right)
39


CHAPTER-3
STEPS IN CIRCUIT DESIGNING
3.1 ETCHING
Etching is the process of using strong acid or mordant to cut into the unprotected
parts of a metal surface to create a design in intaglio in the metal (the original
processin modern manufacturing other chemicals may be used on other types of
material). As an intaglio method of printmaking, it is, along with engraving, the
most important technique for old master prints, and remains in wide use today.
The majority of printed circuit boards today are made from purchased laminate
material with copper already applied to both sides. The unwanted copper is
removed by various methods leaving only the desired copper traces, this is called
subtractive. In an additive method, traces are electroplated onto a bare substrate
using a complex process with many steps. The advantage of the additive method is
less pollution of the environment. The method chosen for PCB manufacture
depends on the desired number of boards to be produced. Double-sided boards or
multi-layer boards use plated-through holes, called vias, to connect traces on
different layers of the PWB.

Fig 3.1.1 Process of Etching
40


3.2 DRILLING
Holes through a PCB are typically drilled with small-diameter drill bits made of
solid coated tungsten carbide. Coated tungsten carbide is recommended since many
board materials are very abrasive and drilling must be high RPM and high feed to
be cost effective. Drill bits must also remain sharp so as not to mar or tear the
traces. Drilling with high-speed-steel is simply not feasible since the drill bits will
dull quickly and thus tear the copper and ruin the boards. The drilling is performed
by automated drilling machines with placement controlled by a drill tape or drill
file. These computer-generated files are also called numerically controlled drill
(NCD) files or "Excellon files". The drill file describes the location and size of each
drilled hole. These holes are often filled with annular rings (hollow rivets) to create
vias. Vias allow the electrical and thermal connection of conductors on opposite
sides of the PCB.
When very small vias are required, drilling with mechanical bits is costly because
of high rates of wear and breakage. In this case, the vias may be evaporated by
lasers. Laser-drilled vias typically have an inferior surface finish inside the hole.
These holes are called micro vias.

Fig 3.2.1 Process of Drilling
41


3.3 SOLDERING
Soldering is a process in which two or more metal items are joined together by
melting and flowing a filler metal (solder) into the joint, the filler metal having a
lower melting point than the work piece. Soldering differs from welding in that
soldering does not involve melting the work pieces. In brazing, the filler metal
melts at a higher temperature, but the work piece metal does not melt. Formerly
nearly all solders contained lead, but environmental concerns have increasingly
dictated use of lead-free alloys for electronics and plumbing purposes.



Fig 3.3.1 Process of Soldering
3.4 PRINTED CIRCUIT BOARD (PCB)
A printed circuit board mechanically supports and electrically connects electronic
components using conductive track, pads and other features etched from copper
sheets laminated onto a non-conductive substrate. PCBs can be single sided (one
copper layer), double sided (two copper layers) or multi-layer. Conductors on
different layers are connected with plated-through holes called vias. Advanced
PCBs may contain components - capacitors, resistors or active devices - embedded
in the substrate.
42



Printed circuit boards are used in all but the simplest electronic products.
Alternatives to PCBs include wire wrap and point-to-point construction. PCBs
require the additional design effort to lay out the circuit but manufacturing and
assembly can be automated. Manufacturing circuits with PCBs is cheaper and faster
than with other wiring methods as component are mounted and wired with one
single part. Furthermore, operator wiring errors are eliminated.
When the board has only copper connections and no embedded components it is
more correctly called a printed wiring board (PWB) or etched wiring board.
Although more accurate, the term printed wiring board has fallen into disuse. A
PCB populated with electronic components is called a printed circuit
assembly (PCA), printed circuit board assembly or PCB assembly (PCBA).
The IPC preferred term for assembled boards is circuit card assembly (CCA), for
assembled backplanes it is backplane assemblies. The term PCB is used informally
both for bare and assembled boards. Today printed wiring (circuit) boards are used
in virtually all but the simplest commercially produced electronic devices, and
allow fully automated assembly processes that were not possible or practical in
earlier era tag type circuit assembly processes.


Fig 3.4.1 PCB of War Field Spy Robot

43


CHAPTER-4
IMPLEMENTATIONS AND RESULTS
4.1 SOFTWARE USED-
Micro C/OS-II (commonly termed as C/OS-II or uC/OS-II), is the acronym for
Micro-Controller Operating Systems Version 2. It is a priority-based pre-
emptive real-time multitasking operating system kernel for microprocessors, written
mainly in the C programming language. It is intended for use in embedded systems.
Its features are:
It is a very small real-time kernel.
Memory footprint is about 20KB for a fully functional kernel.
Source code is written mostly in ANSI C.
Highly portable, ROM able, very scalable, preemptive real-time, deterministic,
multitasking kernel.
It can manage up to 64 tasks (56 user tasks available).
It has connectivity with C/GUI and C/FS (GUI and File Systems for C/OS
II).
It is ported to more than 100 microprocessors and microcontrollers.
It is simple to use and simple to implement but very effective compared to the
price/performance ratio.
It supports all type of processors from 8-bit to 64-bit.
Micro C/OS-II is the second generation of a kernel originally published
(with source code) in a two-part 1992 article in Embedded Systems
Programming magazine and the book C/OS The Real-Time Kernel by Jean J.
Labrosse (ISBN 0-87930-444-8). The author intended at first to simply describe the
internals of a portable operating system he had developed for his own use, but later
developed the OS as a commercial product.
C/OS-II is currently maintained by Micrium Inc. and can be licensed per product
or per product line. Use of the operating system is free for educational non-
commercial use. Additionally, Micrium provides other middleware software
products such as C/CAN, C/FL, C/FS, C/GUI, C/Modbus, C/TCP-IP,
C/USB and a large assortment of C/TCP-IP applications such as client software
for DHCP, POP3, SNTP, FTP, TFTP, DNS, SMTP, and TTCP. Server software
includes HTTP, FTP, and TFTP. PPP is also available.
Ports-
C/OS-II has ports for most popular processors and boards in the market and is
suitable for use in safety critical embedded systems such as aviation, medical
systems and nuclear installations.
44


4.2. BLOCK DIAGRAM-

Fig 4.2.1 Block Diagram of setup of wireless robot
Block diagram shows the whole setup of the project. This robot is Bluetooth
operated; self- powered, and has all the controls like a normal car. A wireless
camera has been installed on it, so that it can monitor enemy remotely when
required. This robot can silently enter into enemy area and send us all the
information through its tiny Camera eyes. A shooting gun mechanism has been
mounted on the top of the robot for shooting the enemies. Gripper is used to pick up
the bomb and placed it in safe place for the disposal through shooting gun. A
temperature module is used to detect the temperature, whether it is increasing or
not. A metal detector is used to detect whether the bomb is implanted in the ground
on detecting metal it will glow up the LED which should be seen by the camera in
the control room. All this controlling of the robot is done by android application.



45


4.2 CIRCUIT DIAGRAM


Fig 4.2.1 Circuit Diagram of robot
46


4.3 PROGRAMMING
The programing of the microcontroller is done on the software mikroC.
mikroC PRO for PIC is a full-featured ANSI C compiler for PIC devices from
Microchip. It is the best solution for developing code for PIC devices. It features
intuitive IDE, powerful compiler with advanced optimizations, lots of hardware and
software libraries, and additional tools that will help you in your work. Compiler
comes with comprehensive help file and lots of ready-to-use examples designed to
get you started in no time. mikroC is the software that has been designed to
program for the PIC family of microcontroller. The programing file has been saved
as a hex file. The microcontroller has been burned by the universal programmer in
which hex file has been taken as an input file. The hardware implementation should
be done according to the programming done in the microcontroller. All the
interfacing of all the components has been done on the proteus software. It will help
in designing the whole interfacing in the running condition. The circuit schematic
has been designed in Xpress PCB. PCB will be fabricated by following the
procedural steps of fabrication.
PROGRAM-
char uart_rd;
void main()
{
TRISB=0;
PORTB=0;
USART_init(9600);
delay_ms(100) ;
while (1)
{
if (USART_Data_Ready())
{
uart_rd=USART_Read();
if (uart_rd=='W')
{
portb.f0=1;
47


}
if (uart_rd=='w')
{
portb.f0=0;
}
if (uart_rd=='U')
{
portb.f6=1;
portb.f7=0;
}
if (uart_rd=='u')
{
portb.f6=0;
portb.f7=1;
}
if (uart_rd=='F')
{
portb.f2=1;
portb.f3=0;
portb.f4=0;
portb.f5=1;
}
if (uart_rd=='B')
{
portb.f2=0;
portb.f3=1;
portb.f4=1;
48


portb.f5=0;
}
if (uart_rd=='R')
{
portb.f2=1;
portb.f3=0;
portb.f4=1;
portb.f5=0;
}
if (uart_rd=='L')
{
portb.f2=0;
portb.f3=1;
portb.f4=0;
portb.f5=1;
}
if (uart_rd=='S')
{
portb.f2=1;
portb.f3=1;
portb.f4=1;
portb.f5=1;
portb.f6=1;
portb.f7=1;
}
}
}
49


4.4 WORKING
In War Field Spy Robot first we will provide the power supply of 5V to the
microcontroller unit. Voltage regulator is used for increasing, decreasing the
voltage to the microcontroller. Android mobile is used as a transmitter/receiver for
control unit. Controlling of the war field is done by the android mobile. Android
mobile is interfaced with the microcontroller by a Bluetooth module. All the signals
from the transmitter part of mobile will be transmitted to the receiver module that
has been mounted on the robot, and will be accessed with a four digit password.
Without intervention of the password no one will access the robot. All the audio
video information from the wireless camera has been transmitted to the control unit
securely and can be seen on the screen in the control room. With the help of
controlling device i.e. Android app we can control the movements of robot
respectively in forward & backward direction. The shooting gun mechanism is done
by the controlling device i.e. android mobile. Whenever any metal has been
disposed underground, the metal detector will detect the presence of metal & will
glow up the light emitting diode. Gripper is used to pick up the bomb for disposing
in the safe place and with the help of laser we will dispose it.
4.5 RESULT-
At last we designed a robot that is capable of fight in terror attacks to
reduce human causalities. It should meet our combatant needs. As we
know that human life and time is priceless. So we have taken an initiative
to design a robot that should be in position to provide stability to the
military.






50


CHAPTER-5
CONCLUSIONS & FUTURE SCOPE
5.1 CONCLUSION
As we all know, these days India is sick off massive terror attacks, bomb explosions
at plush resorts. To avoid such disasters Technological power must exceed Human
power. Human life and time are priceless.
Its our onus to take an initiative to design a model of an apt robot that meets
combatant needs. So to avoid terror attacks, to ensure more security at the border
and high density areas its wise to maintain a world class military technology in
accordance with combatant needs.
Even every nation needs its own defense system for their integrity and security. In
such a way construction of these robots will carry nations name, fame globally
5.2 APPLICATIONS
Wireless security and surveillance in hot spots.
Search and rescue operation.
Maneuvering in hazardous environment.
Can be adequately implemented in national defense through military-
industrial partnership.
Installation of combat robots in the stadiums, sacred places, and government
and non-government organizations assures top security.
Used in bomb disposal by water bullet, surface depth & edge detection,
having night vision lights, metal detection, gas leakage detection, temperature
detection.

5.2 FUTURE SCOPE
The use of robots in warfare, although traditionally a topic for science fiction, is
being researched as a possible future means of fighting wars. Already several
military robots have been developed by various armies.
Some believe the future of modern warfare will be fought by automated weapons
systems. The U.S. Military is investing heavily in research and development
51


towards testing and deploying increasingly automated systems. The most
prominent system currently in use is the unmanned aerial vehicle (IAI
Pioneer & RQ-1 Predator) which can be armed with Air-to-ground missiles and
remotely operated from a command center in reconnaissance roles.
The field of artillery has also seen some promising research with an experimental
weapons system named "Dragon Fire II" which automates the loading and ballistics
calculations required for accurate predicted fire, providing a 12 second response
time to fire support requests. However, weapons of warfare have one limitation in
becoming fully autonomous: they require human input at certain intervention points
to ensure that targets are not within restricted fire areas as defined by Geneva
Conventions for the laws of war.
There have been some developments towards developing autonomous fighter jets
and bombers. The use of autonomous fighters and bombers to destroy enemy targets
is especially promising because of the lack of training required for robotic pilots,
autonomous planes are capable of performing maneuvers which could not otherwise
be done with human pilots (due to high amount of G-Force), plane designs do not
require a life support system, and a loss of a plane does not mean a loss of a pilot.
However, the largest draw back to robotics is their inability to accommodate for
non-standard conditions. Advances in artificial intelligence in the near future may
help to rectify this. To avoid such disasters Technological power must exceed
Human power. Human life and time are priceless.
Its our onus to take an initiative to design a model of an apt robot that meets
combatant needs. So to avoid terror attacks, to ensure more security at the border
and high density areas its wise to maintain a world class military technology in
accordance with combatant needs.







52


CHAPTER-6
BIBLIOGRAPHY
6.1 REFERENCES
[1]. http://en.wikipedia.org/wiki/PIC_microcontroller.
[2]. www.microchip.com/downloads/en/devicedoc/35007b.pdf
[3]. users.ece.utexas.edu/~valvano/Datasheets/L293d.pdf
[4]. www.ti.com/lit/ds/symlink/lm35.pdf
[5]. www.ti.com/lit/gpn/lm345
[6]. www.electronicaestudio.com/docs/istd016A.pdf
[7]. T. S. Rappaport, Wireless Communications: Principles and Practice, Upper
Saddle River, NJ: Prentice Hall, 1996
[8]. Sanjeev Gupta, Electronic Devices and Circuits S. Chand Publication, Second
Edition
[9]. A. P. Malvino Electronic Principals Tata McGraw Hill Publication, Second
Edition.
[10] .www.electronicaestudio.com/docs/istd016A.pdf