ABSTRACT

Our project is entitled as “AUTOMATIC GARBAGE MANAGEMENT

SYSTEM USING ROBOTICS” Drive System is Robot which can perform desired
tasks in collecting garbage without continuous human guidance.In the urban area
increase in population that means increase garbage wastage.The overflow of garbage in
public areas creates the unhygienic condition in the nearby surrounding. It may
provoke several serious diseases among-st the nearby people.

To avoid this and to enhance the cleaning of city.The objective of the project is
to develop a autonomous Robot and implement smart garbage management based on
following technology. The scope of an automatic Robot is to navigate through line
track and then navigate along the road with white and black line. The successful
follower should traverse the entire track ranges. It will be implement Remote
navigation of robotic control.In this system is developed by PIC micro-controller.

We can sense the line track using IR sensor . Process and control the servo
motor, using servo drives. One free wheel is used to stable the Robot. All the processes
are done with the support of embedded c programming. This will help to manage the
garbage collection efficiently.

1
INTRODUCTION
In today's era as we know that where countries are developing at a rapid rate a
lot of unwanted waste is being generated like electronics, plastics and many
biodegradable products. Waste management being the utmost spurned factors in
developing countries creates an urgency to address this problem. In metropolitan or city
areas, the clearance of waste management has been a grind task for the majority of the
country all over the world. There is need of a well- organized waste clearance system is
mandatory by keeping green environment. There are many existing expertise
mechanism are available for handling as well as managing waste. But, the lacking for
gathering information is a major challenging task. This flounder will perturb the quick
nationwide rate of growth in heaped urban areas as well as its growing demand for the
citywide ecological and environmental protection. This is a major challenging in waste
management system to create a prototype because of the paucity of planning and
systematization among government, people and local authority for shipping and
processing waste. Currently the waste gathering is conventional which acquire a lot of
labours and is time overwhelming process.

The Smart garbage collection bin also works in the same way with the
amalgamation of sensors including ultrasonic sensor and IR sensor that predicts and
gives a signal for its garbage level and determines the absolute path respectively. The
main cynosure of this research is to design a highly cost effective and utilitarian waste
management system which shall make regulation and picking up of the garbage as easy
and convenient as possible. In the following sections, the methodology of the system
will be elaborated along with the description of the hardware used. The design of the
system, the algorithm, and the flowchart will follow the hardware description.

BLOCK DIAGRAM
2
 IR SENSOR IR SENSOR

MICRO CONTROLLER

DRIVE DRIVE

SERVO MOTOR
MOTOR 1 11 MOTOR 2

3
 POWER SUPPLY

+6V

4X1N 4007 1 3
+5V
IC 7 8 0 5
2
O N /O F F
+ +
- +
+ 1 0 0 0 M F D \5 0 V 0 .1 M D F 1 0 0 M F D \2 5 V
6V BA TTE R Y

CHARGER

4X1N 4007
+12V

560E

- +
+ TO
A C 220V B A T T ER Y
1 0 0 0 M F D \5 0 V
LED P

12V / 500m A

4
MICROCONTROLLER UNIT

5
INTRODUCTION OF EMBEDDED SYSTEM

WHY WE ARE USING EMBEDDED SYSTEM?

 Cost of production is very low.

 It is an advanced and latest technology.
 Production time is very less.
 It improves the efficiency of the host machine tremendously.

WHAT IS EMBEDDED SYSTEM?

Embedded System is a small computer system that is generally hidden inside

equipment [machine, electrical appliances, or electronic gadget] to increase the
intelligence of the equipment for better or more efficient functionality. This kind of
system always involves both the software and the hardware co-development.

Embedded Systems are often easier understood in terms of Smart devices,

intelligent or automated equipments. Embedded Systems do not need a complete
operating system, but only the basic functionalities of an operating system. Hence
Embedded System can be defined as follows:

 It is embedding or inserting human intelligence by means of a software into a

Microcontroller chip and designing a hardware for the purpose.
 It is a combination of software and hardware with automatic working without user
interface.
 It performs specific functions in host systems like satellites, remote controllers,
televisions, Robots, ATMs, pagers, laser printers, missile launch systems, etc.

6
 EMBEDDED SYSTEM

An embedded system is a combination of computer hardware, software and

additional mechanical parts, designed to perform a specific function .An embedded
system is designed to do a specific task within a given time frame, repeatedly, without
human interaction. Embedded system do not need a complete operating system, but
only the basic functionalities of an operating system in a real-time environment, that is,
a real time operating system. (RTOS). Frequently, embedded system does not have a
user interface.

Application Area of embedded system include aerospace/defense systems,

telecommunication equipments and switches, mobile computing, broadcast,
automotives, industrial process control and monitoring, medical electronics, consumer
electronics, etc. Main hardware components of an embedded system are
microprocessor or micro controller, and supporting ICs. The combination of micro-
controller and ICs are application specific. Commonly used microprocessors include
the following. Motorola 680XX series, IBM PowerPC series processors, MIPS
processors, Intel 386 and compatible CPUs, ARM processors, Sun SPARC series, etc.
Embedded systems need memory for storing programs and data, and usually programs
are stored in ROM or EPROM. Often these systems have a serial port network
interface, I/O interface for interacting with sensors and actuators in the case of process
controlling systems.

7
 MICROPROCESSOR Vs MICROCONTROLLER

Microcontroller is a general-purpose device which has an in-built CPU, Memory

and peripherals, which make it, function as a mini computer.

Both Microcontroller and microprocessor can be employed for designing products

or applications in Embedded System. But Microcontroller has its own advantages over
microprocessor. They are as follows:

 For transfer of data from external memory to the CPU, microprocessor

needs many operational codes. But in Microcontroller, one or two codes are enough.
 Microcontrollers have many bit-handling instructions, but microprocessors have
only one or two.
 Microcontrollers have built-in peripherals whereas microprocessors lack in-built
peripherals.
 Microcontroller work faster than microprocessor because of rapid movement of bits
within the chip.
 Microcontrollers have simple circuit structure compared to microprocessor.
 Microcontrollers have only 35 instructions whereas microprocessors have 75.
 Microcontrollers are costly when compared with microprocessor.
 Microcontroller can function as a mini computer without any additional parts.
 Microcontroller instructions are simple, single word instructions.

8
 PIC (PERIPHERL INTERFACE CONTROLLER)

PIC stands for Peripheral Interface Controller as coined by Microchip

Technology, USA. MCU overview and Roadmap Microchip PIC micro MCUs combine
high-performance, low-cost and small package size, offering the best
price/performance ratio in the industry. More than 1.5 billion of these devices are
shipped to customers worldwide since 1990.

PIC (Peripheral Interface Controller) is the IC which was developed to control the
peripheral device, dispersing the function of the main CPU.
When comparing to the human being, the brain is the main CPU and the PIC shares the
part of which is equivalent to the automatic. However, the through out, the memory
capacities are not big. It depends on the kind of PIC but the maximum operation clock
frequency is about 29 MHZ and the memory capacity to write the program is about 1k
to 4k words. It is possible to make the compact circuit when using PIC.

The point which the PIC is convenient for the calculation part, the memory, the
input/output part and so on is incorporated in to one piece of the IC.

9
 The efficiency and the function are limited but can compose the control unit only
by the PIC even if it does not combine the various IC’s. So the circuit can be
compactly.

Microchip offers five families of MCUs to best fit your application needs:
 PIC12CXXX 8-pin 12-bit/14-bit program word
 PIC16C5X 12-bit program word
 PIC16CXXX 14-bit program word
 PIC17CXXX 16-bit program word
 PIC18CXXX enhanced 16-bit program word

ADVANTAGES IN USING PIC

 Microchip is the world’s first largest chip Manufacturer.

 Focus on high performance cost-effective, field-programmable embedded

control Solutions.

 Microchip is the first Manufacturer of 8 pin RISC MCU.

 Variety of end-user Application-specific Standard Products (ASSP) &

Application-Specific Integrated Circuits (ASIC).

 Global network of manufacturing and customer support facilities.

HARDWARE COMPONENTS OF PIC16F917

10
 This powerful yet easy-to-program (only 35 single word instructions) 8-bit
microcontroller packs Microchip's powerful PIC architecture into an 40- or 44-pin
package and is upwards compatible with the PIC16C5X, PIC12CXXX and PIC16C7X
devices. The PIC16F917 features 256 bytes of EEPROM data memory, self
programming, an ICD, 2 Comparators, 8 channels of 10-bit Analog-to-Digital (A/D)
converter, 2 additional timers, the synchronous serial port can be configured as either
3-wire Serial Peripheral Interface (SPI™) or the 2-wire Inter-Integrated Circuit (I 2C™)
bus and a Universal Asynchronous Receiver Transmitter (USART). All of these
features make it ideal for more advanced level A/D applications in automotive,
industrial, appliances and consumer applications.

PIN DIAGRAM OF PIC16F917

11
12
PIC16F917 BLOCK DIAGRAM

13
 The PIC16F917 has 40 pins. These 40 pins can be connected to different ports
like PORTA, PORTB, PORTC, PORTD and PORTE. Apart from these it can be used
for transmitting and receiving different analog signals. Oscillators, Capacitors,
Resistors of varying value can be used with this. The ports in this can be configured as
either an output port or as an input port .If it is configured as output port either LED’s
or LCD’s or seven segment displays can be used to view the output. If the ports are
configured as input then signals can be received by using keys. These ports have 3-8
pins. Port A, B, C, D has eight pins each and Port E has only 3 pins. Supply of +5v are
used in pins 1 and 32 where a resistor of 1K is used in pin 1.Similarly pin 31 is used as
ground. This IC is particularly used for storing values in its memory. RTC (Real Time
Clock) is an added feature. When there is a need to use five ports or lesser than five
ports we can always go for 877 since it gives us an advantage to use EEPROM, RTC
and different types of input and output.

Oscillators

There are 4 common oscillator modes that are available on most PIC micro
devices. HS, XT, LP and RC.
These modes support crystals, canned oscillator modules, some resonators or the
use of an external resistor and capacitor as a clock source. When using a crystal or
resonator, other components such as capacitors may be needed. The XT mode stands
for “Crystal” mode and will produce a medium drive level. It is designed to be used
with crystals and resonators of about 1 to 4 MHz XT mode has moderate power
consumption since its drive level is lower than that of HS mode, and because a lower
14
clock speed is produced. Remember, as a rule: the faster the clock used, the more
current the application will require.

Master Clear Resets (MCLR)

Resets can be caused by a signal on the MCLR pin, by powering up the

device, by a Watchdog timer timeout, by a Brown-Out voltage Reset (BOR), by a
software reset instruction, or by a stack overflow or underflow reset. The MCLR pin
can be used to generate a reset. On most PIC micro devices the MCLR pin is always
active. When the MCLR function of the pin is enabled, it is an active low Schmitt
trigger input. This means that to ensure a reset, the voltage on the pin must be lower
than the maximum input low voltage specified.

15
 POWER SYSTEM

Every electronic system we need low voltage DC power supply in different

electronic circuits operated in different power supplies, the ratings depending upon
load current and voltage. The load current depending on load resistance i.e load current
is inversely proportional to load resistance. So the matched designation of power
supply is very important to every electronic circuit.

In this circuits we need two power supplies .All ICs are worked on regulated DC
power 5v with GND. Relay derive worked on dc 12v with GND .This unit consist of
battery, rectifier, filter & regulator. Battery voltage typically 12v RMS is connected to a
Diode rectifier then provides a bridge 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 variations. A regulator circuit can use this DC input to
provide DC voltage that not only has much less ripple voltage but also remains the
same DC value even the DC voltage varies some what,. OR the load connected to the
output DC voltages changes.

BLOCKDIAGRM:

16
 Battery Rectifier Filter Regulator

BATTERY:
A battery is a static power source Robots electric system. It works with the
principle of charging and discharging. In our project we are using maintenance free dry
battery for providing a necessary supply for the electronic circuits .In our project we
are using a 6V.

RECTIFIER:

The reverse protector obtained from a battery input can be improved 100% using
a process called full wave rectification. It uses 4 diodes in a bridge configuration. From
the basic bridge configuration. we see that two diodes (say D2 &D3) are conducting
while the other two diodes (D1&D4) are in “off” state during the period t = 0 to
T/2.Accordingly for the negative of the input the conducting diodes are D1&D4.Thus
the polarity across the load is the same.

FILTER:
The filter circuit used here is the capacitor filter circuit where a capacitor is
connected at the rectifier output, and a DC is obtained across it .The filtered wave form
is essentially a dc voltage with negligible ripples, which is ultimately fed to the load.
17
REGULATOR:

The out put voltage from the capacitor is more filtered and finally regulated. The
voltage regulator is a device, which maintains the output voltage constant irrespective
of the changes in supply variations, load variation and temperature changes. Here we
use one fixed voltage regulator namely LM7805.The IC 7805 is a+5 voltage regulator.

3-TERMINAL POSITIVE VOLTAGE REGULATORS

The LM341 and LM78MXX series of three-terminal positive voltage regulators

employ built-in current limiting, thermal shutdown, and safe-operating area protection
which make them virtually immune to damage from output overloads. With adequate
heat sinking, they can deliver in excess of 0.5A output current. Typical applications
would include local (on-card) regulators which can eliminate the noise and degraded
performance associated with single-point regulation.

 Internal thermal overload protection

 Internal short circuit current-limiting
 Output transistor safe

18
 ea compensation
 Available in TO-220, TO-39, and TO-252 D-PAK packages
 Output voltages of 5V, 12V, and 15V
 Output current in excess of 0.5A

Project Technical Specifications:

 The Robot must carry its own power source.

 The Robot must operate for at least 60 minutes on its own.

 The Robot must operate independent of human contact.

 The Robot must follow a LINE path.

 The Robot must use two motors and one free wheel.

19
AUTONOMOUS ROBOT

Autonomous Robots are Robots which can perform desired tasks in unstructured
environments without continuous human guidance. Many kinds of Robots have some
degree of autonomy. Different Robots can be autonomous in different ways. A high
degree of autonomy is particularly desirable in fields such as space exploration, where
communication delays and interruptions are unavoidable. Other more mundane uses
benefit from having some level of autonomy, like cleaning floors, mowing lawns, and
waste water treatment.

Some modern factory Robots are "autonomous" within the strict confines of their
direct environment. Maybe not every degree of freedom exists in their surrounding
environment but the work place of the factory Robot is challenging and can often be
unpredictable or even chaotic. The exact orientation and position of the next object of
work and (in the more advanced factories) even the type of object and the required task
must be determined. This can vary unpredictably (at least from the Robot's point of
view).

One important area of Robots research is to enable the Robot to cope with its
environment whether this is on land, underwater, in the air, underground, or in space.

20
 A fully autonomous Robot has the ability to
 Gain information about the environment.
 Work for an extended period without human intervention.
 Move either all or part of itself throughout its operating environment with human
assistance.
 Avoid situations that are harmful to people, property, or itself.

An autonomous Robot may also learn or gain new capabilities like adjusting
strategies for accomplishing its task(s) or adapting to changing surroundings.

Self-maintenance

The first requirement for physical autonomy is the ability for a Robot to take
care of itself. Many of the battery powered Robots on the market today can find and
connect to a charging station, and some toys like Sony's Aibo are capable of self-
docking to charge their batteries.

Self maintenance is based on "proprioception", or sensing one's own internal

status. In the battery charging example, the Robot can tell proprioceptively that its
batteries are low and it then seeks the charger. Another common proprioceptive sensor
is for heat monitoring. Increased proprioception will be required for Robots to work
autonomously near people and in harsh environments.

Common proprioceptive sensors are

 Thermal
 Hall Effect

21
  Optical
 Contact

Sensing the Environment:

Exteroception is sensing things about the environment. Autonomous Robots

must have a range of environmental sensors to perform their task and stay out of
trouble.

Common exteroceptive sensors are

 Electromagnetic spectrum
 Sound
 Light
 Touch
 Smell, odor
 Temperature
 Range to things in the environment
 Attitude (Inclination)

Some Robots lawn mowers will adapt their programming by detecting the speed in
which grass grows as needed to maintain a perfect cut lawn, and some vacuum
cleaning Robots have dirt detectors that sense how much dirt is being picked up and
use this information to tell them to stay in one area longer.
22
Principles how a robot can follow a guideline

A robot seeks a guideline by riding on a spiral trajectory until it crosses. Even then
the robot starts to follow a given guideline.
There are three fundamental situations that could happen:

left right
sensor sensor

1) Being on a line… L R

The simplest case is when both sensors left

engine
right
engine

are above a guideline and a robot follows

it going straight on.
Figure 1: Being on line

2) Loosing a line…
Approaching a curve, a right sensor
left right
sensor sensor
L R

looses contact with a line. The robot S

T
unclutches its left engine, thereby it O
left
engine
right
engine
P
begins to turn left to return to the line.

Loosing a line

23
3) Outside of a line…
If a curve is too sharp (it means a robot’s
turning radius is greater than a curve
radius of the line), a robot can loose the
L R
guideline and it is outside of it. It
left right
sensor sensor

changes the direction of the engine,

which causes the robot to turn towards to left
engine
right
engine

the line. The sensors that are placed off

axis get closer to the line...
Figure 2: Outside of a line
The same situation could also occur at
the end of the line. In such case the robot
reverses at 180 degrees and turns back.

MATHEMATICAL MODEL

Objective

The dimensions of the Robot had to be within those specified in the competition.
The Robot had to fit within a 1-foot square and could not exceed 1 feet in height. It had
to be totally autonomous, couldn’t transmit or receive signals to or from the outside of
the playing area, and could not be equipped to intentionally harm its opponents. It also
couldn’t carry any onboard cameras. The main goal of this work, keeping in mind the
requirements of the competition, was to cover as much of the playing area as possible
within the shortest time so that the maximum points could be scored. The Robot that
was built placed second among eleven other competitors from different schools.

This type of Robots has many applications, including habitat mapping,

environmental monitoring, mapping and surveillance, search and rescue operations,
planetary surface exploration, agriculture, manufacturing, and service.

24
Types of Robots Behaviors and Controllers

A mobile Robot could be modeled in numerous ways, but the most important
factor for defining the model would be the application and the complexity involved.
The mobile Robot designed in this work is a wheeled Robot intended for indoor use as
opposed to other types (legged, airborne, and submersible mobile Robots). This Robot
type is the easiest to model, control, and build. There are various behaviors that could
be modeled, like wall following, collision avoidance, corridor following, goal seeking,
adaptive goal seeking, etc. With the competition in mind we thought of implementing a
wall following Robot. This Robot would follow the boundaries of the playing area and
cover a maximum area in a predefined path programmed into its onboard
microcontroller.

Various control techniques have been proposed and are being researched. The
control strategies of mobile Robots can be divided into open loop and closed loop
feedback strategies. In open loop control, the inputs to the mobile Robots (velocities or
torques) are calculated beforehand, from the knowledge of the initial and end position
(and of the desired path between them in the case of path following). This strategy
cannot compensate for disturbances and model errors. Closed loop strategies, however,
may give the required compensation since the inputs are functions of the actual state of
the system and not only of the initial and end points. Therefore disturbances and errors
causing deviations from the predicted state are compensated by the use of the inputs.
Of the many available closed loop control systems, including P (proportional) control,
PI (proportional integral) control, and PID (proportional integral derivative) control,
artificial intelligent control was selected as it was easiest to implement for a highly
nonlinear Robot model.

Although a relatively new concept, artificial intelligent is being used in many

engineering applications because it is considered by designers to be the simplest
25
solution available for the specific problem. What gives artificial intelligent advantages
over more traditional solutions is that it allows computers to reason more like humans,
responding effectively to complex inputs to deal with linguistic notions such as 'too
hot', 'too cold' or 'just right'. Furthermore, artificial intelligent is well suited to low-cost
implementations based on cheap sensors, low resolution analog-to-digital converters,
and 4-bit or 8-bit microcontroller chips. Such systems can be easily upgraded by
adding new rules to improve performance or add new features. In many cases, fuzzy
control can be used to improve existing traditional control systems by adding an extra
layer of intelligence to the current control method. In many cases, the mathematical
model of the system to be controlled may not exist, or may be too "expensive" in terms
of computer processing power and memory, and a system based on empirical rules may
be more effective. Implementing the enhanced, traditional P controller can be a
challenge, especially if auto-tuning capabilities to help find the optimal P constants are
desired. However, the theory of P control is very well known and widely used in many
other control applications. On the other hand, fuzzy control seems to accomplish better
control quality with less complexity (if tuning or gain scheduling is needed for the P
approach). Approximation of the second-order switching curve used in time-optimal
control systems by a polynomial of the first or higher order makes fuzzy control a
better candidate for time-optimal control applications. As a relatively new control
method, artificial intelligent provides more space for further improvements.

Based on its design simplicity, its ease of implementation, and its robustness
properties, a artificial intelligent controller is used in this paper to control the
navigation behavior of an autonomous mobile Robot.

26
 Hardware Model Description

The Robot has two wheels on its sides which are driven separately by two
modified servo motors, and there is a roller wheel in front for balance as well as for
smooth turning. The two servo motors used are manufactured by MPI and are rated at 6
VDC. These are run using PWM signals generated from the PIC16F877
microcontroller. A pulse with a 15 ms time period and an on -time of 1500 us will stop
the rotation of the motors. If the on-time of the pulse is changed from 1500 to 1000 us
the wheel rotates with increasing velocity in the clockwise direction. Similarly if the
on-time of the pulse is changed from 1500 to 2000 us the wheel rotates with increasing
velocity in the anticlockwise direction. The sensors used on the Robot are TRX04
ultrasonic range finder, two on a side and one in the front. The transmitter works by
transmitting a pulse of sound outside the range of human hearing at 40 KHz. This pulse
travels at the speed of sound away from the ranger in a cone shape and the sound
reflects back to the ranger from any object in the path of sonic wave. If received back
at the ranger, the ranger reports this echo to the microcontroller and the microcontroller
can then compute the distance to the object based on the elapsed time.

27
 Due to the hardware limitations it is not possible to achieve good Robot control
results by doing the fuzzy calculations on board the autonomous Robot, as the system
clock is only 4 MHz. This results in about 0.4 seconds to complete the whole process
of fuzzification and defuzzification, and thus the response of the system in real time is
too slow to allow the Robot to attain a steady state. Thus we have used a lookup table
instead for artificial intelligent control, and also two PIC16F77 chips are used. One is
exclusively used to generate the PWM signals to run the two servo motors.

IR Sensors

An Infra-Red sensor detects Infra-Red light/white light from a particular

object/line and then converts light energy to electrical energy. An IR sensor pair
consists of an emitter and a detector. The emitter is blue in color and the detector can
be grey,black or white in color.

2.2.1.1 IR Emitter:

An infra-red emitter is a Light Emitting Diode (LED) made from Gallium

Arsenide. It detects IR energy at a wavelength of 880nm and emits the same. The
infrared phototransistor acts as a transistor with the base voltage determined by the
amount of light hitting the transistor. Hence it acts as a variable current source. Greater
amount of IR light cause greater currents to flow through the collector-emitter leads.
The variable current traveling through the resistor causes a voltage drop in the pullup
resistor. This voltage is measured as the output of the device.

2.2.1.2 IR Detector:

An infra-red detector is a photo detector. It detects IR energy emitted by the

emitter and converts it into electrical energy. The main principle involved in the
conversion of light energy to electrical energy is photoelectric effect.The output is
taken at negative terminal of IR detector. The output can be taken to a microcontroller
either to its ADC (Analog to Digital Converter) or LM 339 can be used as a
comparator.

28
 L293D Motor Driver

The L293D is a quadruple push-pull 4 channel driver capable of delivering 600

mA (1.2 A peak surge) per channel. The L293D is ideal for controlling the
forward/reverse/brake motions of small DC motors controlled by a microcontroller
such as a PIC.

The L293D is a high voltage, high current four channel driver designed to accept
standard TTL logic levels and drive inductive loads (such as relays solenoids, DC and
stepping motors) and switching power transistors. The L293D is suitable for use in
switching applications at frequencies up to 5 KHz.

29
Features Include:

 600 mA Output Current Capability Per Driver

 Pulsed Current 1.2 A / Driver
 Wide Supply Voltage Range: 4.5 V to 36 V
 Separate Input-Logic Supply
 NE Package Designed for Heat Sinking
 Thermal Shutdown & Internal ESD Protection
 High-Noise-Immunity Inputs
30
 BIBILIOGRAPHY

WEBSITE REFERENCE

www.datasheetarchive.com

www.microchip.com

www.google.com

BOOK REFERENCE

1. Microprocessor by Nagoor Kani

2. Programming In ANSI C by Balagurusamy

3. Embedded C by jerk

31
 MPLAB

INTRODUCTION

MPLAB is a Windows program package that makes writing and developing a

program easier. It could best be described as developing environment for some
standard program language that is intended for programming a PC computer. Some
operations which were done from the instruction line with a large number of
parameters until the discovery of IDE "Integrated Development Environment" are now
made easier by using the MPLAB. Still, our tastes differ, so even today some
programmers prefer the standard editors and compilers from instruction line. In any
case, the written program is legible, and well documented help is also available.

MPLAB CONSISTS OF

 Grouping the projects files into one project (Project Manager)

 Generating and processing a program (Text Editor)
 Simulator of the written program used for simulating program
 Function on the microcontroller.

32
REQUIREMENTS

 PC compatible computer 486 or higher

 Microsoft Windows 3.1x or Windows 95 and new versions of the Windows
o Operating system
 VGA graphic card
 8MB memory (32MB recommended).

HITECH C

INTRODUCTION

The HI-TECH C Compiler is a set of software, which translates programs

written in the C language to executable machine code programs. Versions are available
which compile programs for operation under the host operating system, or which
produce programs for execution in embedded systems without an operating system.

FEATURES

Some of HI-TECH C's features are:

1. A single batch file or command file will compile, assemble and link entire
programs.

2. The compiler performs strong type checking and issues warnings about
various constructs which may represent programming errors.

3. The generated code is extremely small and fast in execution.

33
 4. A full run-time library is provided implementing all standard C
input/output and other functions.

5. The source code for all run-time routines is provided.

6. A powerful general purpose macro assembler is included.

Programs may be generated to execute under the host operating system, or

customized for installation in ROM.

Conclusion

In this project we have studied and implemented a Line Following Robot using a
Microcontroller for garbage management system. This project is devised to render the
task of muck collection from differing places and then dump it at a particular location
from where the muck is conveniently taken for the action of reusing and recycling. By
intimating the notification of level of garbage filled in the fixed dustbin to the garbage
car, we can decrease the number of trips of the garbage collecting vehicle, thus saving
power and money. Thus, by implementing this project in real time scenarios we can
make a contribution towards the enhancement of Smart City Project, thereby making
the dream of CLEAN INDIA GREEN INDIA come true.

Future Enhancement

After this stage of enactment, we can moreover take this project to a higher level.
First of all one thing we can execute or accomplish is making use of a navigation
system that is GPS based instead of using the black line that the robot follows. Other
thing is that this project is limited to just a single platform or single storied building
and in future this can be made to work in multi-storied buildings. For this there will be
a requirement of a robot that can climb on different floors. This technique would be a
very effective implementation for this project.

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 ENTREPRENEURSHIP

Basics of Entrepreneurship

It is a well-known fact that the scope of for absorbing the ever increasing number
of unemployment in government departments is very much restricted on account of
various factors. Absorption of unemployment people government service takes place
either on account of retirement of the existing staff or due to launching of development
programs. The employment so generated covers only a segment of the unemployed.
The private sector is also offering very little opportunity to the young unemployed
people due to various reasons. In such adverse situation the Indian youth has to wage a
bitter fight to solve the problem of unemployment.

The plan document of our country lays emphasis on self-employment to reduce

unemployment in the country. We are a developing country and there is a wider scope
for the development of self employment to all types of job. Industrial development in a
country depends greatly upon the type of human resources the country possesses. A
country may be rich in material resources and capital, but if entrepreneurship is
lacking, the utilization of resources would not be as expected. The developing
economics of resources would not be as expected.
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Concept
Entrepreneurship prevails environment in a country. Entrepreneurship being an
innovator who introduces something new into the economy, a method of protection not
yet tested by experience in the branch of manufactured concerned, a product with
which the consumes are not familiar, a new source or raw materials, or a new market
higher exploited and similar other innovations. An entrepreneur is one who starts an
industrial venture or a business of his own. Entrepreneurship would include
undertaking manufacturing activities, business or crafts etc., Entrepreneurship is also
associated with a risk assuming function.
Entrepreneur
An entrepreneur is said to be a person who organizes, manages and issue the risk
for a business or enterprise. Commonly entrepreneur is understood to be those persons
who start build their own enterprise rather than taking up a job. Entrepreneurship is the
trait taking up own enterprises.

Role of entrepreneurship
An entrepreneur is a part of industrial society. He is responsible for not only
making his own source of live hood but also for creating avenues of employment for
others and making additions to the gross national product. If a larger number of
entrepreneurs set up enterprise of their own, there is a great deal of transformation of
an area. The industrial entrepreneurs are thus the agents of charge in removing back
wardens and disparities of an area. An entrepreneur has a great social responsibility.
An enterprise consists of not only those who manage it but a host other segments of
society, workers, consumers, the state and the surrounding community.
Some of the qualities are inherent but the others are mostly acquired. Broody
speaking four qualities are the most important one, e.g. intelligence, motivation,
knowledge and opportunity. While the first one is inherent, a continuous process

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generally gains the knowledge, the qualities of entrepreneurs further be sub-divided as
under
 Capacity to take risk
 Capacity to work hard
 Desire for deferred consumption
 Capacity to take advantage of an external situation
 Imagination
 Emulation
 Initiative
 Sociability and flexibility
 Inventive ability and
 Knowledge, both informative and technical.
Expectation

 Increase number of industries is expected from the entrepreneurs

that they will help to.
 Increase production
 Earn foreign exchange through exports
 Develop the underdeveloped parts of the country.
 Develop economy

Small – scale industries facilitate production of consumer goods locally and help
reduction of prices. Some of the important measures of assistance now available are
briefly noted below:

1. Technical assistance: complete technical, economic and managerial

consultancy services are provided to SSO through Small Industries
Services Institute (SISI) and Industrial Extension centers.

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2. Assistance for obtaining raw materials: small – scale units are helped to
obtain controlled indigenous raw materials through state director of
industries and imported raw materials through State Trading Corporation
of India (STC).
3. Supply of machinery Hire Purchase: The National Small Industries
Corporation (NSIC) is giving assistance to small scale units by supplying
machinery to them on deferred credit basis.
4. Marketing assistance: SS units are helped to market their products through
Trade centers and by participating in government’s Stores Purchase
Program me.
5. Assistance to small entrepreneurs: Entrepreneurial Development
programmer is conducted by SSI and Small Industries Development
Organization (SIDO) to give necessary training to young entrepreneurs.
District Industries Centre (DIC) provides under a single – roof all the
services and support required by the small and village industries at pre –
investment, investment, investment and post investment stages.
6. Financial assistance : SS units are helped by providing various financial
assistance like loans, subsides, and hire – purchase scheme through
various agencies like State Finance Corporation NSIC, State Directorates
of Industries, commercial banks, Industrial Development Bank of India
(IDBI) , and National Bank for Agricultural and Rural Development
(NABARD) .
7. Special incentives: Special inducements like the following are offered by
the government for development of entrepreneurship.
a. Capital subsidy up to 15% in backward areas
b. Income Tax exemption for five years.
c. Exemption from Central excise duty.
d. Deduction of depreciation from net profit.
e. Concessions in Stamp duty.

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 f. License to import raw material.

Self-employment schemes

The following are the four important government schemes for prompting self-
employment.

i. District Manpower Planning and Employment Generation Council

The Council prepares a list of investment opportunities in the self-
employment in the district. The major objective of the council is to remove
the handicaps and difficult faced by the youth in entering self-employment
project.

ii. Employment Exchange

A special Vocational Guidance Unit functioning in every
Employment Exchange with the object of giving guidance and motivation to
unemployed persons to take up self employment ventures. In addition to
furnishing information on self-employment projects, until also helps in
obtaining loans from the banks.

iii. The Prime Minister Scheme for providing self-employment to educated

Unemployed youth.

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 The objective of the scheme is to encourage the educated
unemployed youth to undertake self-employment ventures in industry, service
and business through provision of a package of assistance.
The scheme covers all unemployed youth who are matriculates and above,
and in the age group of 18 to 35 years. District Industries Centers (DIC) are
assigned the operational responsibility of the scheme.

iv. Self employment scheme for TRYSEM – trained youth

TRYSEM stands for “Training of Rural Youth for Self-
Employment”, It is a scheme by which rural youth are trained in semi
engineering trades in Industrial Training Institutes and Polytechnics. lThey
youth are provided wit5h financial and other assistance from Government I
the form of subsidy drawn from Integral Rural
Development Program (RDP) and as credit from commercial banks RS.3000
to Rs.10,000.

The Scheme is implemented by a Task Force under the Chairmanship of District

Collector and with District Employment Officer as Member Secretary and Project
officer (DRDA). DDO and Lead Bank Manager as members.

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 Product Selection

A prospective entrepreneur should first prepare a shore list of product lines that
he wants to establish. Then, he should select the product to be manufactured based
upon market survey and demand survey, financial implementations involved, technical
know-how available, and his own experience in the line.

Market survey involves the following:

 Study similar product available in the market that can be probable

Competitors.
 Analyze them in regards to their utility, quality and cost.
 Check whether it is a seasonal product or needed through out the year.
 Find the probable extend of the market.
 Find whether the product can be exported.
 Explore the possibility of manufacturing in collaboration with a foreign
company.
 A demand survey is made to determine
 Whether survey demand for the product is or inelastic.
 The trend of the demand.
 The composition and pattern of the potential users.
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Site Selection
The important factors to be considered in selecting the site for an industry are
given below.
 Nearness to raw material: It will reduce the cost of transportation of raw
materials to the factory.
 Nearness to market: It will reduce transportation cost of the finished
products and also help to catch the share of the market.
 Easy availability of labor: If highly skilled workmen are required, it is
better to locate the plant near a large town.
 Availability of power and fuel: Electrical power and fuel required for the
plant should be easily obtainable in the area, Reliability of power supply
must be ensured.
 Availability of water: Water for drinking and for other purposes should be
easily available. If the process requires large quantity of water, then the
plant should be located near a major water source.
 Land-topography: Cost, probability of floods. Earthquakes, etc are to be
considered.
 Industrial areas: Notified industrial areas will be advantageous due to the
availability of ready infrastructure and other benefits.
 Other major factors: Presence of related industries, facilities for
expansion, housing facilities, and nearness of public amenities like
hospitals and schools, security problems, local and attitude of local people.

Plant Layout
Plant layout means the disposition of the various (equipments, material,
manpower, etc) and services of the plant within the area of the site selected. Plant
layout begins with the design of the factory building and goes up lathe location and

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movement of a worktable. All the facilities like equipments, raw material, machinery,
tools fixtures,
Workers, etc, are given a proper place. In deciding the place for equipment, the
supervisors and workers who nave to operate them should be consulted.

There are three types of plant layout:

1. Process Layout (functional layout) in which all machines or process of the

same types is grouped together in the same area.
2. Product Layout (line layout) in which equipments regardless of process is
arranged as per the sequence of operations in which a given product will
be manufactured.
3. Layout by fixed position (static product layout) in which the product is too
big (e.g. ship, airplane) or too heavy to be moved from one place to
another and is consequently fixed in one place, and men and machines are
brought to the product to perform the required operations. Whatever by the
type required, certain basic principles must be observed. While preparing
the plant layout.

These are:
1. Placement of facilities in a logical and balanced manner.
2. Minimum movements for workers and materials
3. Smooth and continuous flow of operations
4. Optimum space utilization.
5. Flexibility
i. Private Limited Company
ii. Public Limited Company

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 Each one has its own advantages and disadvantages. An entrepreneur’s choices
of the type of the organization will primary depend upon the nature of the business to
be started and his own preferences together with the amount of capital he can
contribute.

Registration
The prospective entrepreneur in the small – scale sector need not obtain any
Industrial Licenses, provided the item of manufacture is not governed by special
regulations. However, to facilitate identification, the Directorate of Industries (through
District Industries Center - DIC) issues certificates registering a unit as a Small Scale /
Ancillary / Tiny Unit.
Registration is done is two stages, Via, provisional and permanent. The issue of
Provisional certificate almost automatic, with Unit / ail validity of 6 months and with a
further extension for another 6 months.

Financial Assistance
With a view to ensure adequate of funds, the small scale Industrial frame work
for the flow of Financial Assistance to small
scale sector comprises of banks (Commercial Banks, Co-Operative banks, Regional
rural banks). State Financial Corporation, National Small Industries Corporation INSIC
and State Small Industries Corporations (SSIDCS).
The NSIC and SSID’S provide Financial Assistance in the form supply of Machinery
and hire purchase basis.
A National Bank of Agriculture and Rural Development (NABARD) has
recently been setup to meet the financial requirements of artisans, Small Scale
Industries, Industries those engaged in the field of Handicraft and other rural craft.

44
Commercial Banks
The Reserve Bank of India issued instructions that no worth wile proposals of
the Small scale unit should be rejected merely on the ground that these are not
supported by adequate security. The commercial Banks have been advised by the
Reserve Bank of India to give special Attention to the needs of the priority sector
borrowers, particularly of the weaker section.
Small scale Industrial units also being charged lower rates of interest on their
borrowings from commercial Banks.

State Financial Corporations

Provide medium and long-term Loans to Small Scale Industries, granting Loans
raised by Industrial undertakings and differed payments and subscribing to stocks,
Shares and bonds of an Industrial Concern.

Lead Banks
The Scheme is designed to enable the bank to work effectively as an Instrument
of development. Under the scheme, the district in the country have allocated to
different commercial banks each of whom is expected to act as a consortium and as a
leader of the financial institutions operating in allotted districts in matters relating to
deposit mobilization, identifying of prospective avenues for financial assistance and
ensuring adequate credit flow for the various development programs of the districts.

Institutional support
The success of Small Scale industries depends solely on the well – established
institutional setup. In order to accelerate the small industries development, government
at the central and state levels has setup a number of development agencies /
institutions. Functions of some these are mentioned.

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1. District Industries Center (DIC)
Each district has a DIC at its headquarters. The main responsibility of DIG is to
act as the chief coordinator or multi functional agency in; respect of various
governments can get all assistance from DIC for setting up and running the
industry in rural areas. Each DIC has one General Manager in the rank of Joint
Director of industries as the head and seven managers each looking after separate
functional area.
 Identification of Entrepreneurs.
 Selection of Projects
 Provisional registration under SSI
 Purchase of fixed Assets
 Clearances from Various Departments.
 Assistance of Raw Material supplies.
 Interest – Free Sales Tax Loan
 Subsidy Schemes.
 Training Programs
 Self – employment for Unemployed Educated Youth.
District Industries Centers are supposed to provide pre – investment and post –
investment assistance to entrepreneurs under one roof.

2. Small Industries Development Organization

SIDO is a policy-making, co-ordination and monitoring agency for the
development of small – scale entrepreneurs. It maintains a close liaison with
government, financial institutions and other agencies, which are involved in the
promotion and development of small-scale units.

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Functions
The main functions of the SIDCD are co-ordination, industrial development and
industrial extension service. Some important functions are:
a. To assess the requirements of indigenous and imported raw materials and
components for the small-scale sector and to arrange their supplies.
b. To collect data on consumer items, which are imported and encourage the setting
up of new units giving them coordinate assistance.
c. To prepare model schemes, projects reports and other Technical literature for
prospective entrepreneurs.
d. To assist and advise the Controller of Capital issues in regard to the issue of
import licenses and the imposition of import restrictions on various products
whose manufacture has already been undertaken indigenously be the existing or
new units.
e. To secure reservations of certain products for the SSIS.

3. National Small Industries Corporation Limited (NSIC)

The NSIC was setup in 1955 with the objective of supplying machinery and
equipment to small enterprise on a hire-purchase basis and assisting them in
procuring government orders for various items of stores. The corporation’s head
office is at Delhi and it has four regional officers at Delhi, Bombay, Madras and
Calcutta, and eleven branch offices. It has one central liaison office at Delhi and
depots and sub-centers.

3. The main functions of NSIC are

 To develop small scale units as ancillary units to large scale industries.
 To provide SSIS with machine on hire-purchase basis
 To assist small enterprises to participate in the stores purchase Programme of the
Central Government.
 To assist small industries with marketing facilities.
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  To distribute basic raw materials through their depots
 To import ad distribute components and parts actual small scale users in specific
industries and
 To construct industrial estates and establish and run prototype production-cum-
training centers.

4. Directorates of Industries of the State Governments

The small-scale industries are a state subject and, therefore, the development and
implementation of the schemes of assistance to SSIS is the primary responsibility of
the State Government Directorates of Industries of Industries in each State do the work
relating to the development of industries in general and small scale industries in
particular. Each directorate is staffed with administration and small scale industries in
particular. Each directorate is staffed with administration and technical officers at State
staff in each district.

Forms of Business Enterprise Topics

 Sale Proprietorship
 Partnership
 Private Limited
 Public Limited
 Co-operatives
 State enterprise

Sole Proprietorship
 Ownership when applied to an industrial enterprise means title to and
possessions of the assets of the enterprise, the power to determine the policies of
operation, and the right to receive and dispose of the proceeds.

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  It is called a single ownership when an individual exercise and enjoys these
rights in his own interest.
 A business owned by one man is called single ownership.
 Single ownership does well for those enterprises, which require little capital and
lend themselves readily to control by one person.
 Examples of enterprise run by single owner are printing press, auto retail trades,
service industries and small engine forms.
 In single ownership, one person contributes the original assets to start the
business, maintains and controls business operation, reaps full benefits in terms
of profit and full liable for all debts associated with the business.

Partnership
 A single owner becomes inadequate as the size of the business enterprise grouse.
He may not be in a position to do away with a1 the duty and responsibilities of
the grown business.
 At this stage the individual owner may associate with him more persons who
have either capital to invest or possess special skill and knowledge to make the
existing business still more profitable.
 Such a combination of individual traders is called partnership.
 Partnership may be defined as the relation between persons who have agreed to
share the profits of a business carried on by all or any of them acting for all.
Individuals with common purposes join and partners and they put together their
property, ability, skill, knowledge, etc, for the purpose of making profits.
 In brief, partnership is an association of two or more (up to 20) persons to carry
an as co-owners of a business for profit.
 Partnerships are based upon a partnership agreement which i.e. generally
reduced to writing.

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  It should cover all areas of disagreement among the partners. It should define the
authority, right and duties of each partner.

It should specify how profit and losses will be divided among the partners, etc.

Private Limited

 The capital is collected from the private partners; some of them may be active
while others are sleeping.
 Private limited restrict the right to transfer shares, avoids public to take up shares
or debentures.
 The number of members is between two and 50, excluding employee and ex-
employee, share holders.
 The company need not file document such consent of directors, list of directors,
etc. the register of joint stock companies.
 The company need not obtain from the register, a certificate of commencement
of business.
 The company need not circulate the balance sheet, profit and loss account etc,
among its members, but it should hold its annual general meeting and place such
financial state rents in the meeting.
 A private company must get its accounts audited.
 A private company has to send a certificate along with the annual return to the
register of joint stock companies stating that it does not have shareholders more
than 50 excluding the employee and employee shareholders.

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  Actually, a private joint stock company resumes much with partnership and has
the advantage that big capital can be collected than could be done so in
partnership.

Public Limited

 In public limited company, the capital is collected from public by issuing shares
having small face value (Rs. 50,20,10).
 The number of share holders should not be less than 7, but there is no limit to
their maximum number.

Co-operatives
 The main aim of the co-operative is to eliminate profit and provide goods an
services to the members of the co-operative cost.
 Members pay fees or buy shares the co-operative, and profits are periodically
redistributed to them.
 Since each member has only one (unlike in joint stock companies), this avoid the
concentration of control in few hand.
 In a co-operative, there are share holders, a board of directors and elected
officers similar to the corporation.
 There are periodic meetings of share also.
 Special laws deal with the formation and taxation of co-operatives.

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 Co-operative organization is a kind of voluntary, demo craft ownership formed
by some motivated individuals for obtained necessities of every day life at rat.es
less than the market. The principle behind the co-operative is that of co-
operation and self.

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