PROJECT REPORT 2012-2013

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Chapter 1

INTRODUCTION
In the past two decades it is estimated that disasters are responsible for about 3 million deaths worldwide, 800million people adversely affected, and property damage exceeding US$50 billion. The recent earthquake in Turkey in November of 1999 left 700 dead and 5000 injured. Many of these deaths were from structural collapse as buildings fell down onto people. Urban Search and Rescue involves the location, rescue (extrication), and initial medical stabilization of victims trapped in confined spaces. Voids formed when a buildings collapse is one instance of a confined space. Urban Search and Rescue may be needed for a variety of situations, including earthquakes, hurricanes, tornadoes floods, fires, terrorist activities, and hazardous materials (hazmat) accidents. Currently, a typical search and rescue team is composed of about ten people, including canine handlers and dogs, a paramedic, a structural engineer, and various specialists in handling special equipment to find and extract a victim. Current state of the art search equipment includes search cameras and listening devices. Search cameras are usually video cameras mounted on some device like a pole that can be inserted into gaps and holes to look for signs of people. Often a hole is bored into the obstructing walls if a void is suspected to exist on the other side. Thermal imaging is also used. This is especially useful in finding warm bodies that have been coated with dust and debris effectively camouflaging the victim. The listening devices are highly sensitive microphones that can listen for a person who may be moving or attempting to respond to rescuers calls. This hole process can take many hours to search one building. If a
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person is found extrication can take even longer. This paper presents the developments of a modular robot system towards USAR applications as well as the issues that would need to be addressed in order to make such a system practical.

Human rescuers have very short time to find trapped victims in a collapsed structure; otherwise the chance of finding victims still alive is nearly zero. In such a critical situation technology can make a great help for rescuers. RESCUE ROBOT is an embedded system project useful to do rescuing jobs in situations that are hazardous for human rescuers. They can enter into gaps and move through small holes that are impossible for humans and even trained dogs. Our preliminary aim in this project is we can control the movement of a robot which could be able to hang around in an unstructured environment and search for victims. On human presence PIR Sensor produces a signal and send to PC via blue tooth the motion of the robot is controlled with the help of motors and also get the temperature reading of that place.

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Chapter 2

BLOCK DIAGRAM
2.1 ROVER SECTION

Fig 2.1 Block diagram of rover section

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Power supply : It provides required power, 5V to the circuits and 3.17V to the Zigbee.

Microcontroller : The microcontroller ATMEGA8951 is used in this project. It is the brain of the project and it controls the entire working of this project.

Pir sensor module : It consists of PIR sensor, Motion detection IC, and a Fresnel Lens. Which detects the human presence.

Bluetooth : Wireless transmission and reception is possible by using BLUETOOTH

Motor driver : Driver IC is used to drive the motors and at a time it can control two motors.

Motors : Motors helps rover to move towards left,right,up and down movements.

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2.2 CONTROLL SECTION

There are mainly two sections in this project. One section is mounted on the rover and the other section is the controlling section.

Fig. 2.2 Block diagram of control section

MAX232 : The serial interface used here is the MAX 232. Max 232 converts RS232 voltage levels to TTL voltage levels and TTL voltage to RS232. It provides 2-channel RS232C ports and 2- channel TTL ports.

PC : The server is used to provide the front end for the motors and provides all software support.

CAMERA :Camera is helps to observe the environment around the robot .

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Chapter 3

BLOCK DESCRIPTION
3.1 AT89S51 MICROCONTROLLER
The AT89S51 is a low-power, high-performance CMOS 8-bit microcontroller with 4Kbytes of in-system programmable Flash memory. The device is manufactured using Atmels high-density non-volatile memory technology and is compatible with the industry-standard 80C51 instruction set and pin out. The on-chip Flash allows the program memory to be reprogrammed in-system or by a conventional non-volatile memory programmer. By combining a versatile 8-bit CPU within system programmable Flash on a monolithic chip, the Atmel AT89S51 is a powerful microcontroller which provides a highlyflexible and cost-effective solution to many embedded control applications. The AT89S51 provides the following standard features: 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines, Watchdog timer, two data pointers, two 16-bit timer/counters, a five vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuitry. In addition, the AT89S51 is designed with static logic for operation down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port, and interrupt system to continue functioning. The Power-down mode saves the RAM contents but freezes the oscillator, disabling all other chip functions until the next external interrupt or hardware reset.

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Fig 3.1 AT89S51 Microcontroller

3.1.1 Features

Compatible with MCS-51 Products 4K Bytes of In-System Programmable (ISP) Flash Memory Endurance: 1000 Write/Erase Cycles 4.0V to 5.5V Operating Range Fully Static Operation: 0 Hz to 33 MHz Three-level Program Memory Lock 128 x 8-bit Internal RAM 32 Programmable I/O Lines Two 16-bit Timer/Counters

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Six Interrupt Sources Full Duplex UART Serial Channel Low power Idle and Power-down Modes Interrupt Recovery from Power-down Mode Watchdog Timer Dual Data Pointer Power off Flag Fast Programming Time Flexible ISP Programming (Byte and Page Mode)

3.1.2 Pin diagram

Fig 3.2 Pin Diagram of AT89S51

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3.2 MAX 232

The MAX232 is an integrated circuit, first created by Maxim Integrated Products, that converts signals from an RS-232 serial port to signals suitable for use in TTL compatible digital logic circuits. The MAX232 is a dual driver/receiver and typically converts the RX, TX, CTS and RTS signals. The drivers provide RS-232 voltage level outputs (approx. 7.5 V) from a single + 5 V supply via on-chip charge pumps and external capacitors. This makes it useful for implementing RS-232 in devices that otherwise do not need any voltages outside the 0 V to + 5 V range, as power supply design does not need to be made more complicated just for driving the RS-232 in this case. The receivers reduce RS-232 inputs (which may be as high as 25 V), to standard 5 V TTL levels. These receivers have a typical threshold of 1.3 V, and a typical hysteresis of 0.5 V. The later MAX232A is backwards compatible with the original MAX232 but may operate at higher baud rates and can use smaller external capacitors 0.1 F in place of the 1.0 F capacitors used with the original device. The newer MAX3232 is also backwards compatible, but operates at a broader voltage range, from 3 to 5.5 V.

Fig. 3.3 MAX 232

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The MAX232 converts from RS232 voltage levels to TTL voltage levels. A MAX232 chip has long been using in many uC boards. It provides 2-channel RS232C port and requires external 10uF capacitors. It is helpful to understand what occurs to the voltage levels. When a MAX232 IC receives a TTL level to convert, it changes a TTL Logic 0 to between +3 and +15 V, and changes TTL Logic 1 to between -3 to -15 V, and vice versa for converting from RS232 to TTL . This can be confusing when you realize that the RS232 Data Transmission voltages at a certain logic state are opposite from the RS232 Control Line voltages at the same logic state. To clarify the matter, see the table below. For more information see RS-232 Voltage Levels. RS 232 Line type & Logic level RS232 Voltage TTL Voltage to/ from MAX 232 Data Logic 0 Data Logic 1 Control Signals (RTS/CTS/DTR/DSR) Logic 0 Control Signals (RTS/CTS/DTR/DSR) Logic 1
Table 3.1 Rs 232 Line Types

Transmission

(Rx/Tx) +3 V to +15 V

0V

Transmission

(Rx/Tx) -3 V to -15 V

5V

-3 V to -15 V

5V

+3 V to +15 V

0V

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3.2.1 Pin diagram

Fig 3.4 Pin diagram of Max 232.

The MAX232 from Maxim was the first IC which in one package contains The necessary drivers (two) and receivers (also two), to adapt the RS232 signal voltage levels to TTL logic. It became popular, because it just needs one voltage (+5V) and generates the necessary RS-232 voltage levels (approx. 10V and +10V) internally. This greatly simplified the design of circuitry. Circuitry designers no longer need to design and build a power supply with three voltages (e.g. -12V, +5V, and +12V), but could just provide one +5V power supply, e.g. with the help of a simple 78x05 voltage converter. MAX-232 includes a Charge Pump, which generates +10V and -10V from a single 5vsupply.This I.C. also includes two receivers and two transmitters in the same package. This is useful in many cases when you only want to use the Transmit and Receive data Lines. So dont need to use two chips, one for the receive line and one for the transmission. However this convenience is

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expensive, but compared with the price of designing a new power supply it is very cheap. There are also many variations of these devices. Each receiver converts TIA/EIA-232 -F inputs to 5-V TTL/CMOS levels. These receivers have a typical threshold of 1.3 V, a typical hysteresis of 0.5 V, and can accept 30-V inputs. Each driver converts TTL/CMOS input level into TIA/EIA-232Flevels.The driver, receiver, and voltage-generator functions are available as cells in the Texas Instruments. It should be noted that the MAX232(A) is just a driver/receiver. It does not generate the necessary RS-232 sequence of marks and spaces with the right timing, it does not decode the RS-232 signal, it does not provide a serial/parallel conversion. All it does is to convert signal voltage levels. Generating serial data with the right timing and decoding serial data has to be done by additional circuitry.

Fig 3.5: circuit diagram

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3.3 PASSIVE INFRARED SENSOR (PIR SENSOR)

It is an electronic device that measures infrared (IR) light radiating from objects in its field of view. Apparent motion is detected when an infrared source with one temperature, such as a human, passes in front of an infrared source with another temperature, such as a wall. All objects above absolute zero emit energy in the form of radiation. Usually infrared radiation is invisible to the human eye but can be detected by electronic devices designed for such a purpose. The term passive in this instance means that the PIR device does not emit an infrared beam but merely passively accepts incoming infrared radiation. Infra meaning below our ability to detect it visually, and Red because this color represents the lowest energy level that our eyes can sense before it becomes invisible. Thus, infrared means below the energy level of the color red, and applies to many sources of invisible energy.

Fig.3.6 PIR Sensor

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Infrared radiation enters through the front of the sensor, known as the sensor face. At the core of a PIR sensor is a solid state sensor or set of sensors, made from an approximately 1/4 inch square of natural or artificial pyro-electric materials, usually in the form of a thin film, out of GaN, CsNO3, polyvinyl fluorides, derivatives of phenyl pyrazine, and cobalt phthalate cyanine. Lithium tantalate (LiTaO3) is a crystal exhibiting both piezoelectric and pyro-electric properties. The sensor is often manufactured as part of an integrated circuit and may consist of one (1), two (2) or four (4) 'pixels' of equal areas of the pyroelectric material. Pairs of the sensor pixels may be wired as opposite inputs to a differential amplifier. In such a configuration, the PIR measurements cancel each other so that the average temperature of the field of view is removed from the electrical signal; an increase of IR energy across the entire sensor is selfcancelling and will not trigger the device. This allows the device to resist false indications of change in the event of being exposed to flashes of light or fieldwide illumination. At the same time, this differential arrangement minimizes common-mode interference, allowing the device to resist triggering due to nearby electric fields. However, a differential pair of sensors cannot measure temperature in that configuration and therefore this configuration is specialized for human detectors. 3.3.1 What is a PIR sensor? PIR sensors allow you to sense motion, almost always used to detect whether a human has moved in or out of the sensors range. They are small,

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inexpensive, low-power, easy to use and don't wear out. For that reason they are commonly found in appliances and gadgets used in homes or businesses. They are often referred to as PIR, "Passive Infrared", "Pyroelectric", or "IR motion" sensors. PIRs are basically made of a pyroelectric sensor (which you can see above as the round metal can with a rectangular crystal in the center), which can detect levels of infrared radiation. Everything emits some low level radiation, and the hotter something is, the more radiation is emitted. The sensor in a motion detector is actually split in two halves. The reason for that is that we are looking to detect motion (change) not average IR levels. The two halves are wired up so that they cancel each other out. If one half sees more or less IR radiation than the other, the output will swing high or low. Along with the pyroelectic sensor is a bunch of supporting circuitry, resistors and capacitors. It seems that most small hobbyist sensors use the BISS0001 ("Micro Power PIR Motion Detector IC") , undoubtedly a very inexpensive chip. This chip takes the output of the sensor and does some minor processing on it to emit a digital output pulse from the analog sensor. For many basic projects or products that need to detect when a person has left or entered the area, or has approached, PIR sensors are great. They are low power and low cost, pretty rugged, have a wide lens range, and are easy to interface with. Note that PIRs won't tell you how many people are around or how close they are to the sensor, the lens is often fixed to a certain sweep and distance (although it can be hacked somewhere) and they are also sometimes set off by house pets. 3.3.2 How does it work? PIR sensors are more complicated than many of the other sensors explained in these tutorials (like photocells, FSRs and tilt switches) because
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there are multiple variables that affect the sensors input and output. To begin explaining how a basic sensor works, we'll use this rather nice diagram . The PIR sensor itself has two slots in it, each slot is made of a special material that is sensitive to IR. The lens used here is not really doing much and so we see that the two slots can 'see' out past some distance (basically the sensitivity of the sensor). When the sensor is idle, both slots detect the same amount of IR, the ambient amount radiated from the room or walls or outdoors. When a warm body like a human or animal passes by, it first intercepts one half of the PIR sensor, which causes a positive differential change between the two halves. When the warm body leaves the sensing area, the reverse happens, whereby the sensor generates a negative differential change. These change pulses are what is detected.

Fig.3.7 PIR Sensor working

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3.4 WCS-232 BLUETOOTH MODULE

Fig.3.8 Bluetooth module

The WCS-232 Bluetooth Serial RS232 Adapter allows to replace serial communication cables. Bluetooth is an industry standard wireless

communications protocol that provides short range, up to 100 metres, communications without wires. The new WCS-232 version 4.0 uses an external antenna to give serial communication up to 1Km. The WCS-232 supports Bluetooth RS232 communication between controllers/devices that have a RS232 serial port interface. The WCS-232 Bluetooth RS232 Serial Port Converter Adapter communicates up to 100 metres/300 feet with up to 115.2Kps speed. The WCS-232 Bluetooth Wireless to Serial RS232 Serial Port Adapter Adapter eliminates cables. The WCS-232 Bluetooth Wireless to Serial RS232 can be used either singly or in pairs.

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Supplied as a matching pair of Serial RS232 to Bluetooth Adapters they can be used with any Serial RS232 equipment to eliminate the cable. There is no need to install additional programs in your computer or communication devices to use the WCS-232 Bluetooth Wireless Cordless to RS232 Serial Port Converter Adapter. Connect the WCS-232 Bluetooth Wireless to RS232 Serial Port Converter Adaptor to a serial port at your computer or communication device and supply it with power. A Bluetooth Cordless connection between two

devices is automatically established when both WCS-232s are powered on. Then you can easily access it as if you were using the existing serial port. More than one pair can be used in the same area. Included in the package is a mains power adapter and a USB power lead. For portable applications the WCS-232 Bluetooth Wireless Cordless to RS232 Serial Port Converter Adapter can be powered from a battery. The WCS-232 Bluetooth Cordless to RS232 Serial Port Converter Adaptor can be powered by the following methods: DC Power supply, PC USB Port through USB cable, Pin 9 of DB9 connector (only if special serial port used) or external battery. Using a program like HyperTerminal, the WCS-232 Serial RS232 to Bluetooth Wireless Converter Adapter can easily be set up. The WCS-232 has a SETUP switch. When it the normal ACTIVE mode it is impossible for stray serial characters to re-program it.

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3.4.1 Features of WCS-232

Single WCS-232 adapter will communicate with any Bluetooth Wireless Cordless enabled equipment (PC, PDA, etc.) that supports SPP (Serial Port Protocol).

Point to Point 2.4GHz RF Communication Compliant with Bluetooth Spec. V1.2

Bluetooth Class 1. Up to 100 metres with standard antenna. Up to 1 Km with optional antenna.

Fully compatible with PC serial COM ports Reduced cabling expenses Applicable to Portable Devices (The lightness of 33g and the small size) USB port can be used for power supply

Communication status can be monitored through LEDs

Stability, Noise-free and reliability through wireless communication.

3.5 BUZZER
This is a small 12mm round buzzer that operates around the audible 2kHz range. We drove it directly from a 5V PIC to generate the tones for our Simon demonstration game. Use buzzers to create simple music or user interfaces.
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Fig 3.9 Buzzer

A buzzer or beeper is an audio signalling device, which may be mechanical, electromechanical, or piezoelectric. Typical uses of buzzers and beepers include alarm devices, timers and confirmation of user input such as a mouse click or keystroke.

3.6 Light-emitting diode (LED)

Fig.3.10 Light-emitting diode

A light-emitting diode (LED) is a semiconductor light source. LEDs are used as indicator lamps in many devices and are increasingly used for other
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lighting. Introduced as a practical electronic component in 1962, early LEDs emitted low-intensity red light, but modern versions are available across the visible, ultraviolet, and infrared wavelengths, with very high brightness. When a light-emitting diode is forward biased (switched on), electrons are able to recombine with electron 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 gap of the semiconductor. LEDs are often small in area (less than 1 mm2), and integrated optical components may be used to shape its radiation pattern. LEDs present many advantages over incandescent light sources including lower energy consumption, longer lifetime, improved robustness, smaller size, and faster switching. LEDs powerful enough for room lighting are relatively expensive and require more precise current and heat management than compact fluorescent lamp sources of comparable output. Light-emitting diodes are used in applications as diverse as aviation lighting, automotive lighting, advertising, general lighting, and traffic signals. LEDs have allowed new text, video displays, and sensors to be developed, while their high switching rates are also useful in advanced communications technology. Infrared LEDs are also used in the remote control units of many commercial products including televisions, DVD players, and other domestic appliances.

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3.7 DC MOTOR

Fig. 10.11 DC 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 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 (winding in which a voltage is induced) but non-rotating armature magnetic field and a static field winding (winding that produce the main magnetic flux) 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.

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3.8 WIRELESS SECURITY CAMERA

Wireless security cameras are closed-circuit television (CCTV) cameras that transmit a video and audio signal to a wireless receiver through a radio band. Many wireless security cameras require at least one cable or wire for power; "wireless" refers to the transmission of video/audio. However, some wireless security cameras are battery-powered, making the cameras truly wireless from top to bottom. Wireless cameras are proving very popular among modern security consumers due to their low installation costs (there is no need to run expensive video extension cables) and flexible mounting options; wireless cameras can be mounted/installed in locations previously unavailable to standard wired cameras. In addition to the ease of use and convenience of access, wireless security camera allows users to leverage broadband wireless internet to provide seamless video streaming over-internet.

Figure 10.12 wireless camera

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3.9 Uses and applications

Wireless security cameras are becoming more and more popular in the consumer market, being a cost-effective way to have a comprehensive surveillance system installed in a home or business for an often less expensive price. Wireless cameras are also ideal for people renting homes or apartments. Since there is no need to run video extension cables through walls or ceilings (from the camera to the receiver or recording device) one does not need approval of a landlord to install a wireless security camera system. Additionally, the lack of wiring allows for less "clutter," avoiding damage to the look of a building. A wireless security camera is also a great option for seasonal monitoring and surveillance. For example, one can observe a pool or patio in summer months and take down the camera in the winter. Wireless range

Figure 3.13 principle of detection

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Range limiting factors Wireless security cameras function best when there is a clear line of sight between the camera(s) and the receiver. Outdoors, and with clear line of sight, digital wireless cameras typically have a range between 250 to 450 feet. Indoors, the range can be limited to 100 to 150 feet. The signal range varies depending on the type of building materials and/or objects the wireless signal must pass through.

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Chapter 4

PCB FABRICATION AND SOLDERING

4.1 PCB FABRICATION
You need to generate a positive (copper black) UV translucent artwork film. You will never get a good board without good artwork, so it is important to get the best possible quality at this stage. The most important thing is to get a clear sharp image with a very solid opaque black. Artwork is drawn using portal. It is absolutely essential that your PCB software prints holes in the middle of pads , which will act as center marks when drilling. It is

virtually impossible to accurately hand drill boards without these holes. Here layout is printed on a butter paper (transparent paper). It is screen printed on the copper clad, etched by using ferric chloride solution and drilled by using a PCB drill. Generally the making of the PCB can be divided into four simple steps : 1. Components layout and design 2. PCB layout designing 3. Drilling 4. Etching of the PCB 4.1.1 Components layout and design

This involves the proper placement of ICs , resistors , capacitors and other components of the circuit . By component layout designing the PCB size is determined .
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A graph sheet is used to draw a sketch of the placement of various components . This is done in such a way as to occupy the least PCB size .

4.1.2 Pcb layout and designing

Draw the circuit connection of the component layout. While drawing the track , the size of the track should be kept in mind. For example, the track size for the power supply is about 1.5mm to 3mm . It depends upon the current flowing through the track. The spacing between the two

tracks should not be very less. The next step is to transfer the PCB layout to the PCB laminate. Always use good quality, pre-coated photo resist fiber glass (FR4) board. Check carefully for scratches in protective covering. You dont need dark room or subdued lighting when handling boards, as long as you avoid direct sunlight, minimize unnecessary exposure, and develop immediately after UV exposure. Instagraphic Microtrak board develops really want to make low-resolution PCBs is essential, and should allow exposure times from 2 to 10 minutes in 15 to 30 seconds increments. It is useful if the timer has an audible indication when the timing period has completed. A timer from a scrap microwave oven would be ideal. Use glass sheet rather than plastic for the top of the UV unit and a light-box for lining up double-sided artworks. If you do a lot of double-sided PCBs, it may be worth making a double-sided exposure unit, where the PCB can be sandwiched between two light sources to expose both sides simultaneously. To find the exposure time for a particular UV unit and laminate type, expose a test piece in 30 seconds increment from 2 to 8 minutes.
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The photo resist board needs to be exposed to UV light through artwork, using a UV exposure box. UV exposure units can easily be made using standard fluorescent lamp ballasts and UV tubes. For small PCBs two or four 8-watt, 30.5cm tubes will be adequate. For larger (A3) units, four 38cm tubes are ideal. To determine the tube to glass spacing, place a sheet of tracing paper on the glass and adjust the distance to get the most even light level over the surface of the paper. Even illumination is a lot easier to obtain with 4-tube units. Generally speaking over exposure is better than under exposure. For a single sided PCB, place the artworks toner side up on the UV box glass, peel of the protective film from the laminate, and place its sensitive side down on printers. You may need to specify a vertical offset in your PCB software to make it print on the right part of the page. For this we should select the suitable PCB laminate. Usually two types of laminates are available: 1. Phenolic board 2. Fiber glass epoxy board

Phenolic boards are cheaper than latter. By transferring the layout to the laminate, clean the copper side of the laminate using petrol or alcoholic spirit or using commercially available cleaning sprays. Place a carbon paper on the copper side of the PCB and the design layout next to carbon paper . Neatly redraw the trace on the design layout on to the carbon paper. Using a marvel pen or fine brush redraw the trace of the carbon paper on to the PCB laminate.

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4.1.3 DRILLING The diameter of the holes varies depending upon the component that it should hold . It is about 1mm for ICs , about 1.25mm for capacitors and resistors and about 1.5mm for diodes . Specific drills are used for

drilling all these holes properly. 4.1.4 ETCHING OF THE PCB Etching is the process where all the excess copper is removed and only the painted portion is left behind . To remove this excess copper , various chemicals are used like ferric chloride . Depending upon the PCB size the solution is prepared by adding 40-50 gms of ferric chloride to water . The solution , which is nicely stirred , is then taken in a flat plastic tray . The PCB is immersed in the solution and the laminate is thoroughly washed with water . Alcohol and acetone are used to remove the paint.

Oxidation of copper is prevented by using insulating material. 4.2 SOLDERING Soldering is the process of joining by heat using a filter

material for the purpose of making continuous and permanent path for the flow of electricity. 1.Retain adequate strength at low as well as at high temperature. 2. Provide an electrically conducting path. 3. Connects the components together to form joints. 4. Allow heat flow between components. 5. Form a liquid gas tight seat.
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4.3 SOLDERING EQUIPMENTS

4.3.1 SOLDER Solder is used for joining two or more metals at temperature below their metal point. The popularly used solders are the alloys of tin (60% ) and lead (40% ) that melts at 190 C and solidifies when it cools. Most of the wire is flux cored type. When such soldering wires are used , no extra soldering flux is needed . 4.3.2 FLUX In order to make the surface accept the solder readily, the

component terminal should be free from oxides and other obstructing films. The soldering flux cleans the oxides from the metal surface. The leads should be cleaned chemically or by abrasion using blades or knives . 4.3.3 SOLDERING IRON It is the tool used to melt the solder and apply at the joints in the circuit . It operates at 230V ac supply. the power range of the soldering iron are low , 25W , 35W , 65W , 125W etc . The iron bit at the tip of it gets heated up within a few minutes . 4.3.4 SOLDERING GUN

It is a gun shaped soldering tool used especially when heat is required . Its trigger is a switch that controls the ac voltage to the bit.

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4.3.5 SOLDERING STATION

It is an equipment that provides a iron a control console that controls the temperature . The temperature is maintained by a feed back control loop.

4.4 SOLDERING PROCESS

1. Make the layout of component in the circuit. Plug in the cord of the soldering iron in to the mains to get it heated. 2. Straighten and clean the component leads using a blade or knife. Apply a little flux on the leads. Take a little solder from iron and heated. 3. Apply the molten solid on the leads. Care must be taken to avoid the components from heated up. 4. Mount the components on the PCB by lending the leads of the components. Use nose-pliers. 5. Apply flux on the joints and solder the joints. Soldering must be done in minimum time to avoid dry soldering and heating up of the components. 6. Wash the residue using Iso-propanol and brush.

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Fig 4.1 PCB Layout of main board

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Fig.4.2 Components layout of main board.

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Chapter 5
CIRCUIT SCHEMATIC OF THE PROJECT

Fig.5.1 Circuit diagram

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Fig.5.2 Power supply section

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Chapter 6

SOFTWARE DESCRIPTION
6.1 EMBEDDED C An embedded hardware device, depending on its size and capabilities, can have an operating system such as embedded Linux with limited or minimal functionality compared to a desktop version. For very small embedded devices, an OS might be entirely absent: it is not possible to write programs, compile, and run and debug the code in such small devices. In such a situation, it is necessary to use cross compilers (or assemblers), which compile programs written in a high-level language on a host system (typically a PC) and generate code for a target system (for example, an embedded device). If we write assembly programs and use an assembler running on a host to generate code for a target device, it is a cross assembler. So, we can write programs on our PC generate code for the embedded device and run it there. This solves the problem of creating executable code for embedded systems, but testing, debugging or tracing embedded programs are difficult.

6.2 LANGUAGES FOR PROGRAMMING EMBEDDED DEVICES.

C is the language of choice for most of the programming done for embedded systems. It might appear that assembly language is intuitively the most obvious choice, since embedded programming is all about programming hardware devices such as microcontrollers. It is true that micro-controllers were initially programmed mostly in assembly language as with other embedded
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devices. It is not that difficult to write an assembly program since the assembly language produces the tightest code, making it possible to squeeze every possible byte of memory usage. However, the problem is that it becomes difficult to use for any reasonably-sized program, and even a slightly complicated device. The difficulties are in getting assembly programs to work correctly; and understanding, debugging, testing and, most importantly, maintaining them in the long run.

Also, high quality C compilers can often generate code that is comparable to the speed of programs written in assembly. So, the benefits of using assembly for efficiency are negligible compared to the ease with which programmers can write C code. However, if performance is the key to make or break a device, then it is hard to beat assembly. For example, DSP (digital signal processing) devices are mostly programmed in assembly even today, because performance is the most important requirement in these devices. Languages such as C++ have features that are often bulky, inefficient or inappropriate for use in resource constrained environments such as embedded devices. In particular, virtual functions and exception handling are two language features that are not efficient in terms of space and speed in embedded systems. Sometimes, C++ programming is used as Safe C, where only a small subset of C++ features is included. However, for convenience, most embedded projects pragmatically use C itself. Languages with managed runtimes, such as Java, are mostly heavyweight. Running Java programs requires a Java Virtual Machine, which can take up a lot of resources.

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Though Java is popular in high-end mobile phones because of the portability it provides and for browsing the Web, it is rarely suitable for use in small embedded devices. There are numerous special purposes or proprietary languages meant to be used in embedded systems such as B# and Dynamic C. Others, like Forth, are also well suited for the purpose. However, C is widely used and familiar to programmers worldwide, and its tools are easily available.

6.3 C IN EMBEDDED SYSTEM The following is a list of the most important differences between C programming for embedded systems and C programming for PCs.

6.4 WRITING LOW-LEVEL CODE: In embedded programming, it is necessary to directly access the underlying hardware. For example, we might need to access a port, timer or a memory location. Similarly, we might need to do low-level programming activities like accessing the job queue, raise some signals, interrupts, etc. So, we need to write low-level programs that directly access, modify or update hardware; this is an important characteristic of embedded C programs. C features such as pointers and bit-manipulation facilities enable us to program at the hardware level directly; so these features are used extensively in embedded programming.

6.5 WRITING IN-LINE ASSEMBLY CODE: The C language provides a limited set of features, so it is not possible to use high-level C code to perform a specific function. For example, the device

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might have some instructions for which there is no direct equivalent in C code (for example, bit-wise rotation). In such cases, we can write assembly code embedded within C programs called inline assembly. The exact syntax depends on the Compiler. Using such techniques, it is possible to implement dynamic data structures such as linked lists and trees that still work under the limitations of embedded devices. Similarly, features such as recursion are not allowed in most of the embedded devices. One reason is that the recursion is inefficient in terms of space and time compared to iterative code. Fortunately, it is possible to write any recursive code as iterative code (though writing or understanding iterative versions of the code is not usually intuitive). To put it simply, costly language features (in terms of space and time) are either not available, or recommended in embedded programming. As programmers, we should find alternative ways of achieving the same functionality. 6.6 USING LIMITED C FEATURES OR NEW LANGUAG EXTENSIONS. Some of the language features that we programming. For example, if the device does not support floating point numbers, then we cannot use floats or doubles in the programs. Problem occur the other way also: often, the underlying devices have hardware features that dont have direct support in the C programming language. For example, a device might support fixed-point numbers; however, C language doesnt have any support for this data type, so there is no direct way of programming it.

Embedded C compilers differ from regular C compilers in many ways; one important difference is the language features they support. Most of the embedded C compilers will not have full conformance to the ANSI C standard

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(because it is heavy-weight); rather, they will support the embedded C specification (check the Reference section for more details). This specification is meant for use in embedded systems, and the most common extensions and features to enhance performance and convenience for accessing underlying hardware resources are provided in it. The advantage in using this specification is that a large number of compilers implement the specification, and thus it is easy to port embedded programs with it.

6.7 CHARACTERESTICS OF EMBEDDED C Like most imperative languages in the ALGOL tradition, C has facilities for structured programming and allows lexical variable scope and recursion, while a static type system prevents many unintended operations. In C, all executable code is contained within functions. Function parameters are always passed by value. Pass-by-reference is achieved in C by explicitly passing pointer values. Heterogeneous aggregate data types (struct) allow related data elements to be combined and manipulated as a unit. C program source text is free-format, using the semicolon as a statement terminator (not a delimiter). C also exhibits the following more specific characteristics: Lack of nested function definitions Variables may be hidden in nested blocks Partially weak typing; for instance, characters can be used as integers Low-level access to computer memory by converting machine addresses to typed pointers Function and data pointers supporting ad hoc run-time polymorphism Array indexing as a secondary notion, defined in terms of pointer arithmetic.
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A pre-processor for macro definition, source code file inclusion, and conditional compilation Complex functionality such as I/O, string manipulation, and mathematical functions consistently delegated to library routines A relatively small set of reserved keywords A lexical structure that resembles B more than ALGOL, for example { ... } rather than ALGOL's begin ... end The equal-sign is for assignment (copying), much like Fortran Two consecutive equal-signs are to test for equality (compare to .EQ. in Fortran or the equal-sign in BASIC) && and || in place of ALGOL's and or (these are semantically distinct from the bit-wise operators & and | because they will never evaluate the right operand if the result can be determined from the left alone (short-circuit evaluation)). A large number of compound operators, such as +=, ++, etc

6.8 C#.NET C#.NET is the next generation of the C#language from Microsoft. With C# you can build .NET applications quickly and easily. Applications made with C# are built on the services of the common language runtime and take advantage of the .NET Framework.

C# has many new and improved features such as inheritance, interfaces, and overloading that make it a powerful object-oriented programming language. Other new language features include free threading and structured exception handling. C# fully integrates the .NET Framework and the common language
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runtime, which together provide language interoperability, garbage collection, enhanced security, and improved versioning support. C# supports single inheritance and creates Microsoft intermediate language (MSIL) as input to native code compilers.

C# is comparatively easy to learn and use, and has become the programming language of choice for hundreds of thousands of developers over the past decade. An understanding of C# can be leveraged in a variety of ways, such as writing macros in Visual Studio and providing programmability in applications such as Microsoft Excel, Access and Word.

Visual Basic.NET, the next generation of the Visual Basic language, is a fast and easy way to create .NET-based applications.C#.NET has many new and improved features that make it a powerful object-oriented programming language, including inheritance, interfaces, and overloading. Other new language features include free threading and structured exception

handling.C#.NET also fully integrates the .NET Framework and the Common Language Runtime, which provide language interoperability, garbage collection, enhanced security, and improved versioning support.

6.9 PROGRAM
1. 2. 3. 4. 5. 6. #include<reg52.H> #include<stdio.h> sbit pir=P1^2; sbit pir_led=P0^0; sbit stat_led=P0^1; sbit data_led=P0^2;
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7. sbit buzzer=P2^4; 8. sbit m1_fwd=P2^3; 9. sbit m1_rev=P2^2;

10. sbit m2_fwd=P2^1; 11. sbit m2_rev=P2^0; 12. unsigned int count1; 13. unsigned int tdata; 14. void init_motor(); 15. void delay(unsigned int k); 16. void delay(unsigned int k) 17. { 18. unsigned int i,j; 19. for(i=0;i<k;i++) 20. { 21. for(j=0;j<20000;j++) 22. { 23. ; 24. } 25. } 26. } 27. void main() 28. { 29. P0=0X00; 30. P1=0XFF; 31. P2=0X00; 32. P3=0XFF; 33. 34. stat_led=0; 35. data_led=0; 36. buzzer=0; 37. pir_led=0; 38. TMOD=0x21; 39. TH0=0xfa; 40. TL0=0x23; 41. EA=1; 42. EX0=1; 43. IT0=1; 44. ET0=1; 45. TR0=1; 46. SCON=0x50; 47. ES=1; 48. TH1=-3; 49. TR1=1; 50. TI=1;

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51. while(1) 52. { 53. if(tdata=='A') 54. { 55. data_led=1; 56. delay(2); 57. data_led=0; 58. delay(2); 59. m1_fwd=1; 60. m1_rev=0; 61. m2_fwd=1; 62. m2_rev=0; 63. delay(8); 64. init_motor(); 65. delay(3); 66. tdata=0x00; 67. delay(2); 68. } 69. if(tdata=='B') 70. { 71. data_led=1; 72. delay(2); 73. data_led=0; 74. delay(2); 75. m1_fwd=0; 76. m1_rev=1; 77. m2_fwd=0; 78. m2_rev=1; 79. delay(8); 80. init_motor(); 81. delay(2); 82. tdata=0x00; 83. delay(2); 84. } 85. if(tdata=='C') 86. { 87. data_led=1; 88. delay(2); 89. data_led=0; 90. delay(2); 91. m1_fwd=0; 92. m1_rev=0; 93. m2_fwd=1; 94. m2_rev=0; 95. delay(8);
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96. init_motor(); 97. delay(2); 98. tdata=0x00; 99. delay(2); 100. 101. 102. 103. 104. 105. 106. 107. 108. 109. 110. 111. 112. 113. 114. 115. 116. 117. 118. 119. 120. 121. 122. 123. 124. 125. 126. 127. 128. 129. 130. 131. 132. 133. 134. 135. 136. 137. 138. 139. 140. 141.
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} if(tdata=='D') { data_led=1; delay(2); data_led=0; delay(2); m1_fwd=1; m1_rev=0; m2_fwd=0; m2_rev=0; delay(8); init_motor(); delay(2); tdata=0x00; delay(2); } /*if(tdata=='E') { data_led=1; delay(2); data_led=0; delay(2); m1_fwd=0; m1_rev=0; m2_fwd=0; m2_rev=0; motor_led=1; tdata=0x00; delay(2); motor_led=0; delay(2); } */ if(pir==1) { pir_led=1 ; buzzer=1; delay(10); buzzer=0; delay(10); delay(15);
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142. 143. 144. 145. 146. 147. 148. 149. 150. 151. 152. 153. 154. 155. 156. 157. 158. 159. 160. 161. 162. 163. 164. 165. 166. 167. 168. 169. 170. 171. 172. 173. 174. 175. 176. 177. 178. 179. 180. 181. 182. 183. 184. 185. 186. 187.

SBUF='M'; delay(5); m1_fwd=0; m1_rev=0; m2_fwd=0; m2_rev=0; delay(2); } if(pir==0) { pir_led=0; delay(15); }

} } void init_motor() { m1_fwd=0; m1_rev=0; m2_fwd=0; m2_rev=0; } void time_1(void) interrupt 1 { TH0=0xd8; TL0=0xef; count1++; if(count1>100) { stat_led=~stat_led; count1=0; } } void serial() interrupt 4 using 3 { if(TI) { TI=0; } if(RI) { tdata=SBUF; RI=0; } }

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Chapter 7

COST AND ESTIMATION

Sl.no 1 2 3 4 A B 5 6 7 A B ITEMS AT 8952 MAX 232 L293D Capacitor 1000 mfd 10 mfd PIR SENSOR BUZZER RESISTOR 10K 1 1 300 30 300 30 QUANTITY 1 1 1 RATE /PIECE 1400 150 100 AMOUNT 1400 150 100

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BIBLIOGRAPHY
1. Bill Even, Scott Hanselman, Farhan Muhammad, Srinivasa Sivakumar, Devin Rader Sons 2000 Programming in Embedded C 2nd Edition John Wiley &

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2. Peter Marwedel Embedded system design, 2nd Edition, Pearson Education 1998. 3. http://encyclopedia.laborlawtalk.com /bluetooth 4. http://embedded.4guysfromrolla.com /articles/020404-1.aspx 5. http://samples.gotdotnet.com/quickstart/aspplus/doc/mtstransactions.a spx 6. http:// embedded t.4guysfromrolla.com/articles/011404-1.aspx

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