Project Doc CAR

A
PROJECT REPORT
ON
REGEN ELECTRO SENSING CAR WITH INTELLIGENT BRAKING
A Project Report Submitted In Partial Fulfillment Of The Requirements For The Award Of Degree Of
BACHELOR OF TECHNOLOGY
In
ELECTRONICS AND COMMUNICATION ENGINEERING
Submitted by
MOHAMMED HYDER 15M21A0468
SYED AWAIS AHMED 15M21A0474
GULAB ALAM 16M25A0404
MD.AMEER SOHAIL 16M25A0405
UNDER THE GUIDANCE OF
Mr. ABDUL WASAY MUDASSER

ASSISTANT PROFESSOR
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
LORDS INSTITUTE OF ENGINEERING AND TECHNOLOGY

(Approved by AICTE-New Delhi and Accredited by NAAC ‘A’ grade Affiliated to JNTU-HYD)
(April-2019)
LORDS INSTITUTE OF ENGINEERING AND TECHNOLOGY
(Approved by AICTE-New Delhi and Accredited by NAAC ‘A’ grade Affiliated to JNTU-HYD)
Sy No. 32, Himayath sagar, Hyderabad-500008.
Department of Electronics and Communication Engineering
CERTIFICATE
This is to certify that the project work entitled “REGEN ELECTRO SENSING CAR WITH
INTELLIGENT BRAKING” is submitted by
MOHAMMED HYDER 15M21A0468
SYED AWAIS AHMED 15M21A0474
GULAB ALAM 16M25A0404
MD.AMEER SOHAIL 16M25A0405
In partial fulfillment for the award of degree of Bachelor Of Technology In

“Electronics and Communication Engineering” of Jawaharlal Nehru Technological University,
Hyderabad during the academic year 20152019. The project report has been approved as it satisfies
the academic requirement in report of project work prescribed for the bachelor of technology.
Mr. ABDUL WASAY MUDASSER

PROJECT GUIDE HEAD OF DEPARTMENT
(EXTERNAL EXAMINAR) (PRINCIPAL)
ACKNOWLEDGEMENT
While developing the project and thesis preparation we were helped by

many people. We avail this opportunity to express our profound sense of gratitude to all who
rendered their valuable help and time in the completion of project on time with quality.
We would like to express our immense gratitude and sincere thanks to

Management of Lords Institute of Engineering and Technology for providing infrastructure
necessary equipment’s, support and excellent academic environment which was required during
research and development of the project.
We are mostly obliged and grateful to the Mrs. Rajshree Rao, Head of the
Department, Electronics and Communication Engineering, Lords Institute of Engineering
and Technology, Hyderabad for his valuable guidance, keen and sustained interest and
encouragement throughout the implementation of this project.
We would also like to express our gratitude to Project Coordinator Mr. S.V.
Altaf, Associate Professor, Lords Institute of Engineering and Technology for his cooperation in
completing the project work.
We wish our deepest sense of gratitude to internal guide Mr. Abdul Wasay
Mudasser, Assistant Professor, Lords Institute of Engineering and Technology for her valuable
advice and guidance in the critical review, project implementation and thesis preparation.
We express our gratitude to all the other faculty members of ECE

Department who helped us in learning, implementing and project execution.
Finally, we acknowledge with gratitude the unflagging support and patience

of our parents for the guidance and encouragement during this project work.
DECLARATION
We hereby declare that the project report entitled " Regen Electro Sensing
Car With Intelligent Breaking” is submitted in partial fulfillment of the requirement for the
award of the degree of Bachelor of Technology in “Electronics and Communication
Engineering” in the Lords Institute Of Engineering and Technology, affiliated to Jawaharlal
Nehru Technology University, Hyderabad, is a record of Bonafide project work carried out by
us under the guidance of Mr. Abdul Wasay Mudasser.
We further declare that the work reported in this project and the result
embodied in this project report has not been submitted either in partial or in full, for the award of
any other degree in this institute or any institute or university.
DATE:
PLACE: HYDERABAD
MOHAMMED HYDER ____________
SYED AWAIS AHMED ____________
GULAB ALAM ____________
MD.AMEER SOHAIL ____________

ABSTRACT
In this decade there has been a drastic step taken up to recover the gasoline
resources, by introducing Electric cars into the market. We can see an enormous number of
Electric Cars coming into the market day by day. But the basic problem with the Electric
cars is for recharging the vehicle. It takes a lot of time to recharge the batteries and though
when charged the mileage of the vehicle is very minimum.
The aim of this model is to regenerate electric current from the wheel by
connecting a dynamo to it. The dynamo converts mechanical energy to electrical energy.
Thus this is again used to recharge the battery. As the car moves, the battery is recharged
due to the rotation of the wheels, simultaneously.
The second part of the project is Intelligent Braking. At all times there have
been safety measures enrolled in the vehicles to make the Driving experience safer and
comfortable. So to overcome the problem of accidents, this model is installed with the
automated braking system. Whenever an object approaches the vehicle or suddenly comes in
front of the vehicle, the car Decelerates or ceases by the help of the sensor, which applies
brakes to avoid the collision.
INDEX
CONTENTS PAGE NO
LIST OF FIGURES i
LIST OF TABLES ii
ABBREVATIONS iii
CHAPTER 1: INTRODUCTION
1.1. Introduction 1
1.2. Motivation and background 2
CHAPTER 2: LITERATURE REVIEW
2.1. Literature review 3
CHAPTER 3: BLOCK DIAGRAM
3.1. Block Diagram 7
3.2. Required Equipments 8
CHAPTER 4: SCHEMATIC DIAGRAM
4.1. Schematic Diagram 9
CHAPTER 5: HARDWARE DESCRIPTION

5.1.1. Arduino Uno 11
5.1.2. Specification of Arduino Uno 12
5.1.3. Features of Arduino Uno 13
5.1.4. Pin Diagram of Arduino Uno 14
5.1.5. Pin Description of Arduino Uno 15
5.2. Ultrasonic Sensor (HC-SR04)
5.2.1. HC-SR04 Sensor Features 17
5.2.2. Ultrasonic Sensor Pin description 18

5.3. Relay 18
5.3.1. Relays 19
5.3.2. Pin configuration of relay 20
5.3.3. Testing of NC/NO connection 21
5.3.4. Working of Relay 22
5.3.5. Driving a relay using microcontroller 23
5.3.6. Creation driver circuits 25
5.4. DC Geared motor
5.4.1. DC Geared motor 25
5.4.2. Working of DC Geared motor 25
5.4.3. Specification of DC Geared motor 26
5.5. Dynamo
5.5.1. Dynamo 26
5.5.2. Specification of Dynamo 27
5.6. Adaptor
5.6.1. Adaptor 27
5.6.2. Internal circuitry of Adaptor 28
5.7. Charge controller
5.7. Charge controller 29
5.7.1 Features of Controller 30
5.8. Battery
5.8.1. Battery 30
5.9 Toggle Switch
5.9.1 Toggle switch 31
5.10 DC Thorttle
5.10.1 DC Thorttle paddle 32
5.11 Electromagnetic Brake
5.11.1 Electromagnetic Brake lever 33
CHAPTER 6: SOFTWARE
6.1. Arduino Software 35
6.2. Structure of code 37
6.3. Coupling of code 40
CHAPTER 7: PROGRAM
7.1. Program 43
CHAPTER 8: ALGORITHM
8.1. Algorithm 47
8.2. Flow chart
47
CHAPTER 9: RESULTS & ANALYSIS
9.1. Working of Regeneration and intelligent breaking system work 49
9.2. Analysis 52
CHAPTER 10: CONCLUSION
10.1. Conclusion 54
10.2. Future scope 54
REFERENCES 56
2019
LIST OF FIGURES
FIGURE NO. NAME OF THE PAGE

FIGURE NO.
3.1.1 Block Diagram 7
4.1.1 Schematic Block Diagram 9
5.1.1 Arduino Uno 11
5.1.2 Pin Out of Arduino Uno 14
5.2.1 Ultrasonic Sensor HC-SR04 17
5.2.2 Sensor Receive module 18
5.2.3 Pin Configuration of Ultrasonic sensor 18
5.3.1 Relay 20
5.3.2 Pin Description of Relay 20
5.3.3.a When the Voltmeter is connected across pin 2&5 21
5.3.3.b When the Voltmeter is connected across pin 2&4 21
5.3.4.a Switching on the second circuit 22
5.3.4.b Switching on the first circuit 22
5.3.4.c Animation of Relay ON-OFF switching circuit 22
5.3.6 Relay drive circuit 24
5.4.1 DC Geared motor 25
5.4.2 Working of DC Geared motor 26
5.5.1 Dynamo 27
5.6.1 Adaptor 28
5.6.2 Circuit Diagram of Adaptor 28
5.7.1 Charge controller 29
5.7.2 Attachments for controller 29
5.8.1 Battery 31
5.9.1 Toggle Switch 32
5.10.1 DC Thorttle Paddle 33
5.11.1 Electromagnetic Brake lever 33
Page 1
2019
8.2 Flow Chart 47

9.1.1 Front view of the vehicle 50
9.1.2 Back view of the vehicle 52
9.1.3 Side view of the vehicle 51
9.1.4 Connection and placement 52
9.1.5 Ultrasonic sensor placement in the vehicle 52
LIST OF TABLE
TABLE NO. NAME OF THE TABLE PAGE NO.
5.1.1 Pin Description Of Arduino Uno 14
5.1.4 Technical Section Of Arduino 15
4.2 Pin Configuration Of Ultrasonic Sensor 18
Page 2
2019
ABBREVIATIONS
LCD – Liquid Crystal Display

USB – Universal Serial Bus
TTL – Transistor-Transistor Logic
LED – Light Emitting Diode
SDA – Serial Data Line
SCL – Serial Clock Line
ICSP – In-Circuit Serial Programming
TX –Transmitter
RX – Receiver
GPIO – General Purpose Input Output
SRAM – Static Random-Access Memory
EEPROM – Electrically Erasable Programmable Read Only Memory
SPI – Serial Peripheral Interface
MOSI – Master Out Serial In
RS – Register Select
R/W – Read or Write
VDD - Drain supply voltage
VGG - Gate supply voltage
Vin - AC voltage of an input signal
Vout - AC output voltage
US -Ultrasonic Sensor
DC - Direct Current
AC - Alternating Current
Page 3
2019
REGEN ELECTRO SENSING CAR WITH INTELLIGENT BREAKING
CHAPTER 1
INTRODUCTION
1.1 Introduction
The Invention of Automobiles have made the daily life of Humans
easy. Travel time has reduced, transportation of goods have become faster, driver
friendly vehicles are introduced.
But due to high usage of fuels in Automobiles like: gasoline, water,
charcoal, steam, wood etc is making the resources to exhaust and the vehicles running
on it emits lot of harmful smoke. To prevent this nowadays Electric cars are introduced
into the environment, which are eco-friendly with the nature.
Although there are some limitations with the Electric vehicles also,
Which makes it unyielding for an individual i.e, the time for recharging the vehicle is
high, the mileage of the vehicle on single charge is minimal.
Thus to overcome this issue in this model we have installed
Regenerative technique. A Dynamo is attached to the wheel of the axel through a chain
pulley. Generally Dynamo gives electric output when mechanical input is provided. As
the vehicle runs on the initially charged batteries, after an instance the Dynamo
regenerates electric current which is given as input for Recharging the batteries,
simultaneously.
The other part of the project Intelligent Braking is developed to
conquer the problem of accidents occurring due to drowsy driving or when a person or
obstacle comes in-front of the vehicle suddenly. This is employed by placing an
Ultrasonic Sensor, which senses the obstacle and alerts the microcontroller which
applies the brake. Hence this avoids the collision and secure the driver and the person.
These systems helps in convenient driving for an individual. Making it
more safer, reliable, and provide high milage.
LIET ECE Page 1

2019
1.2 Motivation and background
There are two basic problems, one is high recharging time of electric
cars and low mileage, the second one is difficulty in braking on sudden situations
causing accidents.
To overcome the first problem the, the idea hit in the mind was wind
turbines. It generated enormous amount of current instead the turbine rotates at very
low speed by the external force of wind, which is capable of suppling current for
whole colony. So this technique was used in the model the dynamo regenerates high
current which is capable to restore the batteries.
The solution for second problem was introduced after an incident,

once there was an accident, the driver in the car was sleepy because of long driving
and sudden hit a person in-front of the vehicle due to lack of consciousness. So the
intelligent Braking was introduce to avoid such incidents.
CHAPETR 2
LIET ECE Page 2

2019
LITERATURE REVIEW
“REGNERATIVE BRAKING”
G. Rizzo, M.Grandone
Department of Industrial Engineering, University of Salerno, Via Giovani Paolo II
132, 84084 Fisciano (SA) – Italy
This paper focuses on the development of a braking control strategy

that allows the best tradeoff between mechanical and regenerative braking on a
hybridized vehicle. The research work is part of a project for the development of an
automotive hybridization kit aimed at converting conventional cars into Through the
Road hybrid solar vehicles. The main aspect of the project is the integration of state-
of-the-art components (i.e. in-wheel motors, photovoltaic panels, batteries) with the
development of an optimal controller for power management. A mild parallel hybrid
structure is obtained by substituting/integrating the rear wheels with in-wheel motors
and adding photovoltaic panels and a lithium-ion battery. A hybridizing equipment
prototype, patented by the University of Salerno, is installed on a FIAT Grande Punto.
A model useful for real-time braking control has been developed, starting from vehicle
longitudinal model and considering dynamic weight distribution in front and rear axles
and related wheel slipping effects. Different braking strategies have then been
investigated, in order to maximize the benefits of regenerative braking.
“INTELLIGENT BRAKING SYSTEM USING ULTRASONIC SENSOR”

International Journal of Emerging Technologies and Innovative Research
(www.jetir.org), ISSN: 2349-5162, Vol.5, Issue 9, page no.655-660, September-2018.
Authors- K.Harishwar Reddy, B.Srikanth, D.Sagar, G.Vijay
Now a day’s road accident in four wheeled vehicles goes on increasing

rapidly due to various reasons. Some road accidents may cause due to chasing between
two vehicles, unconsciousness of driver and failure of the linkages of the braking
system. In such cases we can’t control the vehicle by applying the brakes manually. So
in order to avoid that difficulty it is necessary to control brakes automatically through
electronic devices to reduce the road accidents. In this research paper we propose an
LIET ECE Page 3

2019
effective methodology for automatic control of braking system to avoid accidents. In

this technology we used Ultrasonic sensor, LED, Buzzer, LCD and Micro controller is
programmed with embedded C Language using PIC C Compiler. This complete
system can be fitted on to the dash board of a vehicle and used for controlling the
braking system automatically.
“POWERING THE ELECTRIC CARS WITH DYNAMOS”

IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) ISSN: 2278-1684
Volume 3, Issue 2 (Sep-Oct. 2012).
T. Allen Prasad1, Lokesh Ramesh2
Our main objective in this paper is to power up the electric cars with
dynamos. The major disadvantage we are facing in the electric car is that the charge in
the battery which gives the supply for motor gets discharge and hence it should be
stopped or parked in the area where the current should be easily taken. But the biggest
problem is that when the car get loses its full charge while driving in an area where the
current could not be taken easily or there is no sort of current in that area then you
can’t able to reach your palace .Hence to change this problem the dynamos are used to
solve it. Dynamo is a device which is capable of changing mechanical energy into
electrical energy .Hence by using this character of the dynamo the problem can be
solved. The description of this technique is that by placing one dynamo in each wheel
so that each dynamo will produce a charge through the rotatory motion given by the
wheels of the car and these charges is stored in a separate battery and that can be used
for the emergency purpose and this process is cyclic. When car losses its charge while
running on the charge produced by the dynamo, the dynamo will not stops its work, it
again produce a charge so that you can go for a longer distance.
“POWER GENERATION USING GEAR SETUP WITH DYNAMO”

ARPN Journal of Engineering and Applied Sciences
B. Rubini1, K. Sasikala1 and Ravikumar D.2
1 Department of Electrical and Electronics Engineering, VELS University, Chennai,
India
LIET ECE Page 4

2019
2 Department of Electronics and Communication Engineering, VELS University,

Chennai, India
In this paper the Two Wheeler vehicle speed is used to generate the
electricity which can be stored in the battery for further use. The self-power generating
vehicle is the new innovative one which is going to replace during power cut period.
The power generated from the synchronized dynamo is stored in the battery which is
given to inverter circuit Utilized in AC low power Applications. Power Utilization
from battery usage only applicable for the failure of power supply in homes used from
grid line power. Hence this system will enhance the features and more useful for rural
areas.
“DYNAMO ELECTRIC LIGHTING FOR MOTOR CARS”

Published in: Proceedings of the American Institute of Electrical Engineers ( Volume:
32 , Issue: 11 , Nov. 1913 )
Alfred E. Waller
The design of motor car lighting apparatus begins with the choice of a
satisfactory lamp equipment. This fixes the quantity of energy which the lighting
system must supply at any time, and indicates the dynamo capacity to be provided.
The dynamo must be geared to give its full output at the average speed reached when
driving, with all lights on, in order that the battery reserve may be drawn upon only
when the car is not in motion. When a battery auxiliary is used it must be connected to
the dynamo when conditions are right for charging, and disconnected when the engine
is at rest, to prevent discharge through the dynamo. Safety and convenience require
that this action should be automatic, also that the output of the dynamo should be
limited to a predetermined and safe maximum, regardless of dynamo speed. This leads
to a discussion of methods devised to secure automatic control, and to the speed rating
of the dynamo itself. This is limited on one hand by the weight, size and cost of slow-
speed dynamos, and on the other, by consideration of wear on bearings, commutator
and driving means of the high-speed type. Following this are notes on storage battery
capacity, and wiring.
LIET ECE Page 5

2019
CHAPTER 3
BLOCK DIAGRAM DESCRIPTION
LIET ECE Page 6

2019
Fig: 3.1.1 Block diagram
3.2 Required Equipments:
1. Arduino Uno
LIET ECE Page 7

2019
2. Ultrasonic Sensor (HC-SR04)
3. DC Geared Motor 450w
4. Relays
5. Dc Dynamo 250w Adaptor (12v)
6. Adaptor (5v)
7. Adaptor (12v)
8. Charge Controller
9. 12v 26Ah Batteries
10. Switches
LIET ECE Page 8

2019
CHAPTER 4
SCHEMATIC DIAGRAM DESCRIPTION
4.1. Schematic Diagram
Fig 4.1.1 Schematic Diagram
This project consists of a Microcontroller board Arduino Uno, 24V

Relay, DC Gear Motor, Dynamo, Ultrasonic Sensor. Here AT89S52 microcontroller is
used. It is microcontroller board based on the ATmega328P and it requires supply
voltage of 5V DC. It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack,
an ICSP header and a reset button. We can use 9V DC battery or 5V, 1A adapter to
provide the supply to the Arduino Uno.
For the above circuit additionally it needs to connect Relay for the DC
motor to work properly. Vcc pin is connected to the 5V and GND pin is connected to
ground.
LIET ECE Page 9

2019
Electrical load (Linear Actuator) is connected to the P2.0 through the

relays. Here relays are used to switch AC loads using small DC voltages. Ultrasonic
sensor pins trigger is connected to Arduino pin 9, echo pin to 10.
4.2Pin Description
Table 4.2: Pin Description of Schematic diagram
ARDUINO UNO PORT

NUMBER(PIN SIGNAL DESCRIPTION
NUMBER)
Digital I/P (Pin 09) Triggering I/P 1 Triggering the ultrasonic
sensor 1
Digital I/P (Pin 10) Echo I/P 1 Echoing for ultrasonic
sensor 1
Digital O/P (Pin 11) Triggering I/P 2 Triggering the ultrasonic
sensor 2
Digital O/P (Pin 13) Echo I/P 2 Echoing for ultrasonic
sensor 2
Digital I/P (GND) Ground Ground for 1 and 2
Digital I/P (+5v) +5v Input for ultrasonic

sensors
Relay (NO) Open Normally opened
Relay (NC) Closed Normally Closed
Common (COM) Common pole Common is connected to

one End of the Load that
is to be controlled
LIET ECE Page 10

2019
CHAPTER 5
HARDWARE COMPONENTS
5.1 ARDUINO UNO
Arduino is a single-board microcontroller meant to make the

application more accessible which are interactive objects and its surroundings. The
hardware features with an open-source hardware board designed around an 8-bit
Atmel AVR microcontroller or a 32-bit Atmel ARM. Current models consists a USB
interface, 6 analog input pins and 14 digital I/O pins that allows the user to attach
various extension boards.
The Arduino Uno board is a microcontroller based on the ATmega328.

It has 14 digital input/output pins in which 6 can be used as PWM outputs, a 16 MHz
ceramic resonator, an ICSP header, a USB connection, 6 analog inputs, a power jack
and a reset button. This contains all the required support needed for microcontroller. In
order to get started, they are simply connected to a computer with a USB cable or with
a AC-to-DC adapter or battery. Arduino Uno Board varies from all other boards and
they will not use the FTDI USB-to-serial driver chip in them. It is featured by the
Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-serial
converter.
LIET ECE Page 11

2019
Fig: 5.1 Arduino UNO
There are various types of Arduino boards in which many of them were
third-party compatible versions. The most official versions available are the Arduino
Uno R3 and the Arduino Nano V3. Both of these run a 16MHz Atmel ATmega328P 8-
bit microcontroller with 32KB of flash RAM 14 digital I/O and six analogue I/O and
the 32KB will not sound like as if running Windows. Arduino projects can be stand-
alone or they can communicate with software on running on a computer. For e.g.
Flash, Processing, Max/MSP. The board is clocked by a 16 MHz ceramic resonator
and has a USB connection for power and communication.
5.1.1. Specification:
Microcontroller: ATmega328P
 Operating Voltage: 5V
 Input Voltage (recommended): 4-5V
 Inout Voltage (limit): 6-20V
 Digital I/O Pins: 14 (of which 6 provide PWM output)
 PWM Digital I/O Pins: 6
 Analog Input Pins: 6
 DC Current per I/O Pin: 20 mA
 DC current for 3.3V Pin: 50 mA
 Flash Memory: 32 KB (ATmega328P) of which 0.5 KB used by bootloader
 SRAM: 2 KB (ATmega328P)
 EEPROM: 1 KB (ATmega328P)
 Clock Speed: 16 MHz
 LED_BUILTIN: 13
 Length: 68.6 mm
 Width: 58.4 mm
 Weight: 25 g
LIET ECE Page 12

2019
5.1.2. Features of the Arduino Uno:
 It is an easy USB interface. This allows interface with USB as this is like a
serial device.
 The chip on the board plugs straight into your USB port and supports on your
computer as a virtual serial port. The benefit of this setup is that serial
communication is an extremely easy protocol which is time-tested and USB
makes connection with modern computers and makes it comfortable.
 It is easy-to-find the microcontroller brain which is the ATmega328 chip. It has

more number of hardware features like timers, external and internal interrupts,
PWM pins and multiple sleep modes.
 It is an open source design and there is an advantage of being open source is

that it has a large community of people using and troubleshooting it. This
makes it easy to help in debugging projects.
 It is a 16 MHz clock which is fast enough for most applications and does not
speeds up the microcontroller.
 It is very convenient to manage power inside it and it had a feature of built-in

voltage regulation. This can also be powered directly off a USB port without
any external power. You can connect an external power source of upto 12v and
this regulates it to both 5v and 3.3v.
 13 digital pins and 6 analog pins. This sort of pins allows you to connect
hardware to your Arduino Uno board externally. These pins are used as a key
for extending the computing capability of the Arduino Uno into the real world.
Simply plug your electronic devices and sensors into the sockets that
correspond to each of these pins and you are good to go.
 This has an ICSP connector for bypassing the USB port and interfacing the
Arduino directly as a serial device. This port is necessary to re-bootload your
chip if it corrupts and can no longer used to your computer.
LIET ECE Page 13

2019
 It has a 32 KB of flash memory for storing your code.
 An on-board LED is attached to digital pin 13 to make fast the debugging of

code and to make the debug process easy.
 Finally, it has a button to reset the program on the chip.
5.1.3. Arduino Pin Diagram
Fig 5.1.3: Pin Out Of Arduino Uno
5.1.3. Pin Description

Table: 5.1: Pin Description
PIN PIN NAME DETAILS

CATEGORY
Power Vin, 3.3V, 5V, GND Vin: Input voltage to Arduino when using
an external power source.
5V: Regulated power supply used to

power microcontroller and other
components on the board.
LIET ECE Page 14

2019
3.3V: 3.3V supply generated by on-board

voltage regulator. Maximum current draw
is 50mA.
GND: ground pins.
Reset Reset Resets the microcontroller.
Analog Pins A0 – A5 Used to provide analog input in the range

of 0-5V
Input/Output Digital Pins 0 - 13 Can be used as input or output pins.

Pins
Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial

data.
External 2, 3 To trigger an interrupt.

Interrupts
PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.
SPI 10 (SS), 11 (MOSI), Used for SPI communication.

12 (MISO) and 13
(SCK)
Inbuilt LED 13 To turn on the inbuilt LED.
TWI A4 (SDA), A5 Used for TWI communication.

(SCA)
AREF AREF To provide reference voltage for input

voltage.
5.1.4. Arduino Uno Technical Specifications
Table:5.1.4. Technical Sections Of Arduino
LIET ECE Page 15

2019
Microcontroller ATmega328P – 8 bit AVR family microcontroller
Operating Voltage 5V
Recommended Input Voltage 7-12V
Input Voltage Limits 6-20V
Analog Input Pins 6 (A0 – A5)
Digital I/O Pins 14 (Out of which 6 provide PWM output)
DC Current on I/O Pins 40 mA
DC Current on 3.3V Pin 50 mA
Flash Memory 32 KB (0.5 KB is used for Bootloader)
SRAM 2 KB
EEPROM 1 KB
Frequency (Clock Speed) 16 MHz
5.1.5. Applications of Arduino:
 The main concept of this project is to design a robot using ultrasonic sensors to
avoid the obstacle.
 A robot is a machine and it is a combination of programs instructions and

motors. It can perform some task with some guidance or automatically.
 This robotic vehicle has an intelligence which is built inside of the robot.
When an obstacle problem comes ahead of it then, it guides itself.
 This robot is designed with a microcontroller from Atmel family of Aduino

board.
5.2. ULTRASONIC SENSOR (HC-SR04)
LIET ECE Page 16

2019
Fig.5.2.1. Ultrasonic Sensor HC-SR04
As shown above the HC-SR04 Ultrasonic (US) sensor is a 4 pin

module, whose pin names are Vcc, Trigger, Echo and Ground respectively. This
sensor is a very popular sensor used in many applications where measuring distance or
sensing objects are required. The module has two eyes like projects in the front which
forms the Ultrasonic transmitter and Receiver. The sensor works with the simple high
school formula that
Distance = Speed × Time
The Ultrasonic transmitter transmits an ultrasonic wave, this wave

travels in air and when it gets objected by any material it gets reflected back toward
the sensor this reflected wave is observed by the Ultrasonic receiver module as shown
in the picture below
Fig.5.2.2. Sensor Receiver Module
5.2.1. HC-SR04 Sensor Features
LIET ECE Page 17

2019
 Operating voltage: +5V
 Theoretical Measuring Distance: 2cm to 450cm
 Practical Measuring Distance: 2cm to 80cm
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
 Operating Frequency: 40Hz
Fig.5.2.3. Pin configuration of Ultrasonic Sensor HC-SR04
5.2.2. Ultrasonic Sensor Pin Configuration
Table 5.2.2. Ultrasonic sensor Pin Configuration
PIN
PIN NAME DESCRIPTION
NUMBER
The Vcc pin powers the sensor, typically with

1 Vcc
+5V
Trigger pin is an Input pin. This pin has to be
2 Trigger kept high for 10us to initialize measurement by
sending US wave.
3 Echo Echo pin is an Output pin. This pin goes high
for a period of time which will be equal to the
LIET ECE Page 18

2019
time taken for the US wave to return back to

the sensor.
This pin is connected to the Ground of the
4 Ground
system.
5.3.1 RELAY
A relay is an electromagnetic switch operated by a relatively small

electric current that can turn on or off a much larger electric current.
The heart of a relay is an electromagnet (a coil of wire that becomes a
temporary magnet when electricity flows through it). We can think of a relay as a kind
of electric lever: switch it on with a tiny current and it switches on ("leverages")
another appliance using a much bigger current.
Why is that useful? As the name suggests, many sensors are incredibly
sensitive pieces of electronic equipment and produce only small electric currents. But
often we need them to drive bigger pieces of apparatus that use bigger currents.
Relays bridge the gap, making it possible for small currents to activate larger ones.
That means relays can work either as switches.
The relay switch connections are usually labeled as COM, normally
closed (NC) and normally open (NO).
5.3.2. Pin configuration of relay:
COM/POLE= Common, NC and NO always connect to this, it is the

moving part of the switch. NC = Normally Closed, COM/POLE is connected to this
when the relay coil is not magnetized. NO = Normally Open, COM/POLE is
connected to this when the relay coil is MAGNETIZED and vice versa.
General purpose relays operate with AC or DC current, at common
voltages such as 12V, 24V, 48V, 120V and 230V, and they can control currents ranging
from 2A- 30A. These relays are economical, easy to replace and allow a wide range of
switch configuration.
LIET ECE Page 19

2019
Fig.5.3.1. Relays
Fig.5.3.2. Pin Description of relay
• It is seen that there is coil between pin 1 & 3.

• If the coil is not drawn there, then another way to understand the coil
connected pins is to put a ohm meter across pin 1 and 3 and observe the
resistance between these 2 pins.
• The resistance is too low in this point as it is only 2 ends of a coil
5.3.3 Testing of NC /NO

To understand the normally close and normally open connection we
need a voltmeter. And it should be set in the diode mood.
LIET ECE Page 20

2019
Fig5.3.3.a. When the voltmeter is connected Fig 5.3..b.When the voltmeter is

connected across across pin 2 & 5 is seen the voltage across it is pin 2&4 is
seen the voltage across it is ZERO. Which means they are shorted.
ZERO. Which means they are open. So, it is NORMALLY CLOSED
so it is NORMALLY OPEN.
5.3.4. Working of relays
Here are two simple animations illustrating how relays use one circuit
to switch on a second circuit. When power flows through the first circuit (1), it
activates the electromagnet (brown), generating a magnetic field (blue) that attracts a
contact (red) and activates the second circuit (2).
When the power is switched off, a spring pulls the contact back up to
its original position, switching the second circuit off again.
LIET ECE Page 21

2019
Fi
g5.3.4.a. Switching on the second circuit Fig5.3.4.b. Switching on

the first circuit
This is an example of a "normally open" (NO) relay: the contacts in the

second circuit are not connected by default, and switch on only when a current flows
through the magnet. Other relays are "normally closed" (NC; the contacts are
connected so a current flows through them by default) and switch off only when the
magnet is activated, pulling or pushing the contacts apart. Normally open relays are
the most common. Here's another animation showing how a relay links two circuits
together. It's essentially the same thing drawn in a slightly different way. On the left
side, there's an input circuit powered by a switch or a sensor of some kind. When this
circuit is activated, it feeds current to an electromagnet that pulls a metal switch closed
and 17 activates the second, output circuit (on the right side). The relatively small
current in the input circuit thus activates the larger current in the output circuit:
LIET ECE Page 22

2019
Fig5.3.4.c.Animation of relay on-off switching circuit
So this is the main working principle of relay which we have discussed

elaborately with associated circuitry. Now the question is that how the relay is driven?
Answer sounds simple. The relay requires a driving circuitry using Transistor. So the
next topic will be on “Relay Driving Circuitry”.
5.3.5. Driving a Relay using Microcontrollers
This post will outline how we can drive a relay using micro-controllers
like AVR. Concepts are same for any other micro-controller too. Working principle of
relay have been already discussed.
So now we can come to the point. Before you connect a relay to a

microcontroller, you need to first make a few decisions. Key ones are listed below: 1.
What will be connected to the relay output and how much current is required for the
relay output. 2. How much current is required to energize the relay and what is the
voltage rating. The voltage and current required to energize the relay should be in
range (e.g. 5V DC – 12 VDC). We should pick the ones that can run on 5V (since we
can use the same power supply as microcontroller).
Most relays we have come across are rated 6V, but work fine on 5V
too. In our project the relay which we have used is rated as 5VDC, 5A This means,
that the coil needs about 5V to energize can take a load current of upto 5A. One
question remains, how much current is required to energize the relay. Some sellers will
write 18 the “Coil Rated Current” else we have to check the datasheet.
LIET ECE Page 23

2019
The rated coil current for this model as per the datasheet was about
40mA. Therefore, we need to provide 5V DC and a flow of about (max.) 40mA should
be enough to energize the relay. This is where, the next item comes is – a power
transistor. We will use a transistor as a driver to provide the required current to the
relay. Ensure that the ratings of the transistor, far exceed the coil ratings of the relay
(meaning, the CE voltage must be much larger than 5V DC and the collector current
must be much larger than 40mA).
5.3.6 Creation the driver circuit
Once such transistor is BC 547. We will use this transistor as a switch.

The microcontroller will provide the on/off signal to the base of this transistor. This
transistor will be driven to saturation and full current will start to flow. The picture
below outlines the circuit.
Fig 5.3.6.Relay driver circuit
The transistor collector is connected to the relay coil. The transistor

base is driven by a microcontroller pin. When the microcontroller wants to switch on
the relay, it provides 5V (logic high) at its output pin. The output pin is connected to
the base of the transistor. The transistor goes into saturation and current starts to flow
from Vcc to ground (logically) via the coil and the transistor (CE). This energizes the
relay and point C now switches and connects to point A, completing the LED circuit.
LIET ECE Page 24

2019
If no signal is present, then the transistor is cut-off, no current flows through the relay
coil and thus, point C is in contact with point B, keeping the LED off.
5.4 DC GEARED MOTOR
A DC motor is any of a class of rotary electrical machines that converts

direct current electrical energy into mechanical energy. The most common types rely
on the forces produced by magnetic fields. Nearly all types of DC motors have some
internal mechanism, either electromechanical or electronic, to periodically change the
direction of current flow in part of the motor.
DC motors were the first form of motor widely used, as they could be
powered from existing direct-current lighting power distribution systems. A DC
motor's speed can be controlled over a wide range, using either a variable supply
voltage or by changing the strength of current in its field windings. Small DC motors
are used in tools, toys, and appliances. The universal motor can operate on direct
current but is a lightweight brushed motor used for portable power tools and
appliances. Larger DC motors are currently used in propulsion of electric vehicles,
elevator and hoists, and in drives for steel rolling mills. The advent of power
electronics has made replacement of DC motors with AC motors possible in many
applications.
LIET ECE Page 25

2019
Fig: 5.4.1 Dc Geared Motor
5.4.2. Working:
 A Motor is an electrical machine which converts electrical energy into mechanical
energy.
 The principle of working of a DC motor is that "whenever a current carrying

conductor is placed in a magnetic field, it experiences a mechanical force".
Fig: 5.4.2 Working Principle Of Motor
5.4.3. Technical Specifications of Motor
 Voltage: 24 Volt DC
 Output: 450 Watt
 RPM (after Reduction) – 450
 Actual RPM (without Reduction):4500
 Full load current – 24A
 No load Current – 4.2A
LIET ECE Page 26

2019
 Torque Constant – 9.2Nm (90 kg-cm)
 Torque stall – 14 Nm (140 kg-cm)
 Roller Diameter 0.3 inch
 Roller Width 0.16 inch
5.5 DYNAMO
A Dynamo is an electrical generator that creates direct current using

a commutator. Dynamos were the first electrical generators capable of delivering
power for industry, and the foundation upon which many other later electric-power
conversion devices were based, including the electric motor, the alternating-
current alternator, and the rotary converter. Today, the simpler alternator dominates
large scale power generation, for efficiency, reliability and cost reasons. A dynamo has
the disadvantages of a mechanical commutator. Also, converting alternating to direct
current using power rectification devices (such as vacuum tubes or more recently
via solid state technology) is effective and usually economical.
Fig: 5.5.1. Dynamo
5.5.2. Specifications of Dynamo Motor
LIET ECE Page 27

2019
 Operating Voltage: 24V
 Output Power: 250W
 Torque: 3.5Nm
 Construction: Permanent Magnet
 Speed(RPM): 2750 rpm
 Continuous Current(A): 20.A
 G.W: 1KG dc brushed motor
 Diameter: 60mm dc brushed motor
5.6. ADAPTOR
 An AC adapter, AC/DC adapter, or AC/DC converter is a type of external

power supply, often enclosed in a case similar to an AC plug.
Fig: 5.6.1.Adaptor
 Specs:
 Input voltage: 220-240v.
LIET ECE Page 28

2019
 Output voltage: 12v Dc.

 Current : 14 Amps
5.6.2. Internal circuitry of adaptor:
Fig: 5.6.2. Circuit Diagram of Adaptor
5.7 CHARGE CONTROLLER
An Charge controller or Speed controller is an electronic circuit that

controls and regulates the speed of an electric motor. It may also provide reversing of
the motor and dynamic braking. Full-size electric vehicles also have systems to
control the speed of their drive motors. An electronic speed control follows a speed
reference signal (derived from a throttle lever, joystick).
LIET ECE Page 29

2019
Fig:5.7.1 Charge Controller
This Motor Controller 24V for MY1020 500W includes attachments for the
motor, accelerator, brake, battery, battery charging, brake light, power lock.
Fig: 5.7.2 Attachments for controller
5.7.1 Features of Controller:
 Rated voltage: 24 v DC
 Current limit: 33A
 Rated power: 500 w
 Throttle 1-4 v
LIET ECE Page 30

2019
 Matching motor: dc brushed motor
 Under Voltage Protection: 20V
 Strong Aluminium body
5.8 BATTERY
A Battery is a device consisting of one or more electrochemical

cells with external connections provided to power electrical devices such
as flashlights, smartphones, and electric cars. When a battery is supplying electric
power, its positive terminal is the cathode and its negative terminal is the anode. The
terminal marked negative is the source of electrons that will flow through an external
electric circuit to the positive terminal. When a battery is connected to an external
electric load, a redox reaction converts high-energy reactants to lower-energy
products, and the free-energy difference is delivered to the external circuit as electrical
energy. Historically the term "battery" specifically referred to a device composed of
multiple cells, however the usage has evolved to include devices composed of a single
cell.
Primary (single-use or "disposable") batteries are used once and

discarded; the electrode materials are irreversibly changed during discharge. Common
examples are the alkaline battery used for flashlights and a multitude of portable
electronic devices. Secondary (rechargeable) batteries can be discharged and
recharged multiple times using an applied electric current; the original composition of
the electrodes can be restored by reverse current. Examples include the lead-acid
batteries used in vehicles and lithium-ion batteries used for portable electronics such
as laptops and smartphones.
Batteries come in many shapes and sizes, from miniature cells used to
power hearing aids and wristwatches to small, thin cells used in smartphones, to
large lead acid batteries or lithium-ion batteries in vehicles, and at the largest extreme,
huge battery banks the size of rooms that provide standby or emergency power
for telephone exchanges and computer data centers.
LIET ECE Page 31

2019
Fig:5.8.1 Battery
Batteries come in many shapes and sizes, from miniature cells used to
power hearing aids and wristwatches to small, thin cells used in smartphones, to
large lead acid batteries or lithium-ion batteries in vehicles, and at the largest extreme,
huge battery banks the size of rooms that provide standby or emergency power
for telephone exchanges and computer data centers.
5.9 TOGGLE SWITCH
5.9.1 TOGGLE SWITCH:
A device that opens and closes an electric circuit. It uses a lever that is
moved up and down; a light switch on the wall being a common example. Early
computers, especially mainframes, often had many rows of toggle switches on their
consoles, making them look very formidable.
LIET ECE Page 32

2019
Fig: 5.9.1 Toggle Switch
In electrical engineering, a switch is an electrical component that can

"make" or "break" an electrical circuit, interrupting the current or diverting it from one
conductor to another. The mechanism of a switch removes or restores the conducting
path in a circuit when it is operated. It may be operated manually, for example, a light
switch or a keyboard button, may be operated by a moving object such as a door, or
may be operated by some sensing element for pressure, temperature or flow. A switch
will have one or more sets of contacts, which may operate simultaneously,
sequentially, or alternately. Switches in high-powered circuits must operate rapidly to
prevent destructive arcing, and may include special features to assist in rapidly
interrupting a heavy current. Multiple forms of actuators are used for operation by
hand or to sense position, level, temperature or flow. Special types are used, for
example, for control of machinery, to reverse electric motors, or to sense liquid level.
Many specialized forms exist. A common use is control of lighting, where multiple
switches may be wired into one circuit to allow convenient control of light fixtures.
5.10 DC THORTTLE
5.10 DC THORTTLE:
An Electronic speed control or Thorttle is an electronic circuit that

controls and regulates the speed of an electric motor.
LIET ECE Page 33

2019
Fig: 5.10.1 DC Thorttle paddel
It may also provide reversing of the motor and dynamic braking.

Miniature electronic speed controls are used in electrically powered radio controlled
models. Full-size electric vehicles also have systems to control the speed of their drive
motors.
5.11 Electromagnetic Brake
5.11 Electromagnetic Brake:
Electromagnetic Brakes are used to bring any rotating motion (like that
of an electric motor) to an instant stop. They are actuated / de actuated by energizing
the brake coil with electric power. Advantage of the brake is that the driven machine
can be stopped at the desired location instantaneously. Depending upon the design,
Electromagnetic brakes are classified into 2 major types:
LIET ECE Page 34

2019
Fig: 5.11.1 Electromagnetic Brake lever
 Normally ON (Failsafe)
 Normally Off
Normally ON: or Failsafe Brakes are spring applied, where in the braking action takes
place due to mechanical spring pressure and the braking action is released by supply of
electric power. They are always in the brake applied or ON condition and thus the
name. Since braking action is due to spring force, the braking action takes place in
case of power failure, preventing accidents and thus they are popular as Failsafe
Brakes.
Normally OFF: brakes require electric power supply for braking action to take place.
They are in the brake not applied or OFF condition and thus the name.
LIET ECE Page 35

2019
CHAPTER 6
SOFTWARE
To successfully complete the task of Hardware implementation,

Software simulation is required greatly. What actually Software simulation facilitates?
Now we can come to the point. Simulation software is based on the process of
modeling a real phenomenon with a set of mathematical formulas.
LIET ECE Page 36

2019
It is, essentially, a program that allows the user to observe an operation

through simulation without actually performing that operation. If we think
professionally that using software simulations, one can show their customer how
everything works in his/her program. Also he/she can make it interactive, clients will
be able to take a closer look at the features that interest them most.
In our project we have used IDE (Integrated Development
Environment) as Simulation Software.
6.1 Arduino Software:

You’ll need to download the Arduino Software package for your operating system.
When you’ve downloaded and opened the application you should see something like
this:
LIET ECE Page 37
2019
This is where you type the code you want to compile and send to the Arduino board.
The Initial Setup
We need to setup the environment to Tools menu and select Board.
Then select the type of Arduino you want to program, in our case it’s the Arduino
Uno.
LIET ECE Page 38

2019
6.2 Structure of Code:

The code you write for your Arduino are known as sketches. They are
written in C++.
Every sketch needs two void type functions, setup () and loop(). A void
type function doesn’t returns any value.
The setup () method is ran once at the just after the Arduino is powered
up and the loop () method is ran continuously afterwards. The setup () is where you
want to do any initialization steps, and in loop() you want to run the code you want to
run over and over again.
So, your basic sketch or program should look like this:
void setup()
{
void loop()
{
}
Now we have the basic skeleton in place we can now do the Hello,
World program of microcontrollers, a blinking an LED.
Headers and Pins
If you notice on the top edge of the board there’s two black rectangles
with several squares in. These are called headers. Headers make it easy to connect
components to the the Arduino. Where they connect to the board is called pins.
Knowing what pin something is connected to is essential for programming an
Arduino.
The pin numbers are listed next to the headers on the board in white.
LIET ECE Page 39

2019
The onboard LED we want to control is on pin 13.

In our code above the setup() method let’s create a variable called
ledPin. In C++ we need to state why type our variable is before hand, in this case it’s
an integer, so it’s of type int.
int ledPin = 13;
void setup()
{
}
void loop()
{
}
Each line is ended with a semicolon (;).
In the setup() method we want to set the ledPin to the output mode. We
do this by calling a special function called pinMode() which takes two variables, the
first the pin number, and second, whether it’s an input or output pin. Since we’re
dealing with an output we need to set it to a constant called OUTPUT. If you were
working with a sensor or input it would be INPUT.
int ledPin = 13;
void setup()
{
pinMode(ledPin, OUTPUT);
}
void loop()
{
}
In our loop we are going to first switch off the LED to make sure our
program is being transferred to the chip and overriding the default.
LIET ECE Page 40

2019
We do this by calling another special method called digitalWrite(). This

also takes two values, the pin number and the level, HIGH or the on state or LOW the
off state.
int ledPin = 13;
void setup()
{
}
void loop()
{
digitalWrite(ledPin, LOW);
}
Next we want to compile to machine code and deploy or upload it to the Arduino.
6.3 Compiling the Code
If this is your first time you’ve ever compiled code to your Arduino
before plugging it in to the computer go to the Tools menu, then Serial Port and take
note of what appears there.
Here’s what mine looks like before plugging in the Arduino UNO:
Plug your Arduino UNO board in to the USB cable and into your
computer. Now go back to the Tools > Serial Port menu and you should see at least 1
new option. On my Mac 2 new serial ports appear.
LIET ECE Page 41

2019
They tty and cu are two ways that computers can talk over a serial port.
Both seem to work with the Arduino software so I selected the tty.* one. On Windows
you should see COM followed by a number. Select the new one that appears.
Once you have selected your serial or COM port you can then press the
button with the arrow pointing to the right.
Once that happens you should see the TX and RX LEDs below the L
LED flash. This is the communication going on between the computer and the
Arduino. The L may flicker too. Once this dance is complete your program should be
running. And your LED should be off.
Now let’s try and switch it on using the HIGH constant.
int ledPin = 13;
LIET ECE Page 42

2019
void setup()
{
}
void loop()
{
digitalWrite(ledPin, HIGH);
}
Press Upload again and you should see your LED is now on!
Let’s make this a little more interesting now. We’re going to use
another method called delay() which takes an integer of a time interval in
milliseconds, meaning the integer of 1000 is 1 second.
So after where we switch the LED on let’s add delay(2000) which is
two seconds, then digitalWrite(ledPin, LOW) to switch it off and delay(2000) again.
int ledPin = 13;
void setup()
{
}
void loop()
{
digitalWrite(ledPin, HIGH);
delay(2000);
digitalWrite(ledPin, LOW);
delay(2000);
}
LIET ECE Page 43

2019
CHAPTER 7
PROGRAM
7.1. PROGRAM
// defines pins numbers

const int trigPin1 = 9;
const int echoPin1 = 10;
const int trigPin2 = 11;
const int echoPin2 = 12;
const int relay = 13;
long duration1,duration2;
int distance1,distance2;
void Ultrasonic1()
{
// Clears the trigPin
digitalWrite(trigPin1,
LOW);
delayMicroseconds(2);
// Sets the trigPin on
HIGH state for 10 micro
seconds
HIGH);
LOW);
LIET ECE Page 44

2019
// Reads the echoPin,

returns the sound wave
travel time in
microseconds
duration1 =
pulseIn(echoPin1,
HIGH);
// Calculating the
distance
distance1=
duration1*0.034/2;
// Prints the distance on
the Serial Monitor
//Serial.print("UltraSonic
1 Distance: ");
//Serial.println(distance1)
;
void Ultrasonic2()
{
// Clears the trigPin
LOW);
// Sets the trigPin on
HIGH state for 10 micro
seconds
HIGH);
LIET ECE Page 45

2019
LOW);
// Reads the echoPin,
returns the sound wave
travel time in
microseconds
duration2 =
pulseIn(echoPin2,
HIGH);
// Calculating the
distance
distance2=
duration2*0.034/2;
// Prints the distance on
the Serial Monitor
//Serial.print("UltraSonic
2 Distance: ");
//Serial.println(distance2)
;
}
void setup() {
pinMode(trigPin1,
OUTPUT); // Sets the
trigPin as an Output
pinMode(echoPin1,
INPUT); // Sets the
echoPin as an Input
pinMode(trigPin2,
OUTPUT); // Sets the
trigPin as an Output
LIET ECE Page 46

2019
pinMode(echoPin2,
INPUT); // Sets the
echoPin as an Input
pinMode(relay,
OUTPUT); //Sets the
Cutter as Output
}
void loop() {
Ultrasonic1();
Ultrasonic2();
if(distance1<10||
distance2<10)
{
digitalWrite(relay,HIGH)
;
}
else
{
digitalWrite(relay,LOW);
}
void serialEvent() {
while (Serial.available())
{
char inChar =
(char)Serial.read();
rx_data=inChar;
}
LIET ECE Page 47

2019
CHAPTER 8
IMPLEMENTATION
8.1. Algorithm
1. Initially the car runs on the charge battery.

2. When A, R, B pressed the car will accelerate, reverse and applied brake
respectively.
3. The Dynamo produces electric current and recharges the batteries.
4. Ultrasonic sensor continuously senses the obstacle.
5. When an obstacle senses the brake are applied
8.2. Flowchart
LIET ECE Page 48

2019
LIET ECE Page 49

2019
Fig.8.2.Flow chart
CHAPTER 9
RESULT &ANALYSIS
We have finally reached our goal. We have to implement the hardware

as all equipment are at our hand. So in a nutshell the whole procedure is as follows:
Electric vehicles are the best alternative to the gasoline vehicles. But
the recharging time of the vehicles are high. It take nearly 10 to 12 hours to recharge.
Further the vehicle has a minimal milage, for example it can run for 100km-150km on
single charge. As the engineering in gasoline vehicles, small electrical equipments
drive on battery, which is recharged by adding a Dynamo to the Engine. Whereas in
Electrical vehicles there is no Regeneration of current, electrical equipments are drive
directly from the main battery. For an existing project (Regenerative Braking) current
was generated by converting the mechanical force into Electric energy which is
produced while Braking. The current regenerated here is very limited which is nearly
15%. In this model, the Regeneration of current is terminated by the Dynamo and
utilizing it for recharging the batteries, gives an extra milage due to simultaneous
LIET ECE Page 50

2019
recharging. This model produces high amounts of current which is roughly 50%-60%,
due to this technique a vehicle having a milage of 100km on single charge, can be
upgraded to 198km. Every time the battery is recharge nearly 50-60% which makes it
more efficient.
The Automated Braking aids to effortless driving. The sudden approach
of an obstacle or person and faraway driving makes immediate braking complicated.
Due to this technique the driver need to apply brakes manually and the collision is
prevented.
9.1 Working of Regeneration and Intelligent Braking System.

1. Initially the car runs on charged 24v 26ah batteries.
2. The Dynamo connected to the wheel of the car axel experiences rotational force
due to the motion of the vehicle (Forward or Reverse). And produces electric
current, which recharges the batteries.
3. As there are more number of teeth on dynamo gear compared to axel gear. i,e Axel
gear has 24 toots and the dynamo gear has 50 toots. Which rotates the dynamo
mini gear which has 11 toots. Thus this nearly multiples the current to four times.
4. In this project the generation of current (i,e. charging of the batteries) is shown by
connecting the dynamo to the dc bulb, which lits while driving.
5. Now coming to the Braking part of the project, whenever either of the Ultrasonic
sensors 1 or 2 sense any obstacle it triggers the relay.
6. The relay is directly connected to the brake system of the motor through charge
controller, thus applies brake.
LIET ECE Page 51

2019
Fig.9.1.1. Front view of the vehicle
Fig9.1.2 Back view of the vehicle
LIET ECE Page 52

2019
Fig9.1.3 Side view of the vehicle
Fig9.1.4 connection and placement
LIET ECE Page 53

2019
Fig9.1.5 Ultrasonic sensor placement in the vehicle
9.2. Analysis
Advantages:
• The electric current is generated whenever the wheels are

rotated.
• Eco-friendly.
• It can be easily operated.
• Prevents accidents using ultrasonic sensors.
Disadvantages:
 It is complicated to fix the dynamo in the wheels of the cars because the front
wheel is connected to steering and when the steering is turned then the wheel
get turned hence the dynamo should be fixed in the way that it should be
moved where the wheel moves
 By considering the cost of electric cars the dynamos cost is low but if the cost
of the car is low then by comparison the cost of the four dynamos will be
slightly greater.
LIET ECE Page 54

2019
 The ultrasonic sensor senses the obstacle during traffic, which results in
unnecessary apply of brakes, so it should be switched of when in traffic.
Moreover by considering all its advantages and it working and efficiency, the
Disadvantages is lesser. Hence this technology could be possible in future electric cars.
Applications
 Very efficient for Electric vehicles.

 Serves when Emergency, if the batteries are discharged.
 For Public transport, it provides long and safer journey.
 Can be used in heavy load vehicles like: Buses or Lorries, for safe Braking.
CHAPTER 10
CONCLUSION
10.1. Conclusion
Electric vehicles are the best alternative to the gasoline vehicles. But
the recharging time of the vehicles are high. It take nearly 10 to 12 hours to recharge.
Further the vehicle has a minimal mileage, for example it can run for 100km-150km
on single charge. As the engineering in gasoline vehicles, small electrical equipment
drive on battery, which is recharged by adding a Dynamo to the Engine. Whereas in
Electrical vehicles there is no Regeneration of current, electrical equipment are drive
directly from the main battery. For an existing project (Regenerative Braking) current
was generated by converting the mechanical force into Electric energy which is
LIET ECE Page 55

2019
produced while Braking. The current regenerated here is very limited which is nearly
15%. In this model, the Regeneration of current is terminated by the Dynamo and
utilizing it for recharging the batteries, gives an extra mileage due to simultaneous
recharging. This model produces high amounts of current which is roughly 50%-60%,
due to this technique a vehicle having a mileage of 100km on single charge, can be
upgraded to 198km. Every time the battery is recharge nearly 50-60% which makes it
more efficient.
The Automated Braking aids to effortless driving. The sudden approach
of an obstacle or person and faraway driving makes immediate braking complicated.
Due to this technique the driver need to apply brakes manually and the collision is
prevented.
10.2. Future Scope
There are related works. We can enlist them as follows:-
1. Instead of placing Dynamo for single Wheel of the vehicle, it can be placed for
multiple wheels. This provides more amount of current, and can be used for several
purposes.
2. Controlled Shock absorbers, for balancing the vehicle when the sudden Braking, due
to Intelligent Braking.
3. The Gear ratio can be set in such a way that it increases the RPM of the dynamo, thus
increasing the amount of current produce.
4. By using high end equipment the number of seating can be increased, from single
seater to multiple seater.
LIET ECE Page 56

2019
References
[1] Prof. Kuseker S.K (Guide), Bandgar P.M , Andhale P.S, Adlinge G.H,
Gaikawad V.V, Dhekale S.P (2015), ‘Design And Development of Electrical Car’,
International journal of Emerging Technology and Advanced Engineering, Vol. 5,
Issue 4, April 2015.
[2] Powering the Electric Cars with Dynamos -http://www.iosrjournals.org/iosr-
jmce/papers/vol3-issue2/A0320105.pdf?id=2573
[3] Electric Car Chassis Construction -https://www.youtube.com/watch?
v=wth7xV5Gew0.
[4] K. Vignesh, P. Sakthi, A. Pugazhenthi, V. Karthikeyan, C. Vinothkumar (2015),
‘Free Energy Bicycle’, International journal of Innovative science Engineering &
Technology, Vol. 2 Issue 4,April 2015.
LIET ECE Page 57

2019
[5] T. Allen Prasad, Lokesh Ramesh (2012), ‘Powering the Electric Cars with
Dynamos’, IOSR Journal of Mechanical and Civil Engineering, Vol.3, Issue 2,
September 2012.
[6] S.M Ferdous, Walid Bin Khaled, Benzoir Ahmed, Sayedus Salehin, Enaiyat
Ghani Ovy (2011), ‘Electric Vehicle With Charging Facility in Motion using Wind
Energy’, World Renewable Energy Congress 2011-Sweden.
[7] Saurabh Chauhan (2015), ‘Motor Torque Calculations For Electric Vehicle’,
International journal of scientific & Technology Research, Vol. 4, Issue 08,August
2015.
[8] INTELLIGENT BRAKING SYSTEM USING ULTRASONIC SENSOR-
http://www.jetir.org/view?paper=JETIRE006097
[9] A.H.Ingle, Rajesh Kumar Bombal, Sanchay Shobhane, ”INTELLIGENT
BRAKING SYSTEM”, International Journal Of Research In Science And
Engineering, Vol 3,Issue 2,March-April 2017.ISSN 2394-8299,ISSN 2394-8280.
[10] Milind S Deotate, Hrishikesh Shivankar, Rohit More, “REVIEW ON
INTELLIGENT BRAKING SYSTEM” International Journal on Recent and
Innovation Trends in Computing and Communication. Vol: 4 Issue: 4, April 2016.
[11] Dc Gear motor – https://robokits.co.in/e-bike/ebike-dc-geared-motor-24v-
480rpm-450w
[12] Dynamo–https://robokits.co.in/e-bike/e-bike-motor/ebike-dc-geared-motor-
24v-2750rpm-250w
[13] Charge Controller 500W–https://robokits.co.in/e-bike/e-bike-motor-
controller/e-bike-motor-electric-speed-controller-24v-500w
[14] Automobile mechanical and electrical system by Tom Denton.
[15] Electric and hybrid cars: A History by Curtis D.Anderson and Judy Anderson.
[16] The 2011 Electric Car Guide By Michael Box well.
LIET ECE Page 58

2019
LIET ECE Page 59

Project Doc CAR

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Project Doc CAR

Uploaded by

Copyright:

Available Formats

A

REGEN ELECTRO SENSING CAR WITH INTELLIGENT BRAKING

ELECTRONICS AND COMMUNICATION ENGINEERING

MOHAMMED HYDER 15M21A0468

SYED AWAIS AHMED 15M21A0474

GULAB ALAM 16M25A0404

MD.AMEER SOHAIL 16M25A0405

UNDER THE GUIDANCE OF

Mr. ABDUL WASAY MUDASSER

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

LORDS INSTITUTE OF ENGINEERING AND TECHNOLOGY

Sy No. 32, Himayath sagar, Hyderabad-500008.

Department of Electronics and Communication Engineering

MOHAMMED HYDER 15M21A0468

SYED AWAIS AHMED 15M21A0474

GULAB ALAM 16M25A0404

MD.AMEER SOHAIL 16M25A0405

In partial fulfillment for the award of degree of Bachelor Of Technology In

Mr. ABDUL WASAY MUDASSER

While developing the project and thesis preparation we were helped by

We would like to express our immense gratitude and sincere thanks to

We express our gratitude to all the other faculty members of ECE

Finally, we acknowledge with gratitude the unflagging support and patience

MOHAMMED HYDER ____________

SYED AWAIS AHMED ____________

GULAB ALAM ____________

MD.AMEER SOHAIL ____________

1.2. Motivation and background 2

CHAPTER 2: LITERATURE REVIEW

2.1. Literature review 3

CHAPTER 3: BLOCK DIAGRAM

3.1. Block Diagram 7

3.2. Required Equipments 8

CHAPTER 4: SCHEMATIC DIAGRAM

4.1. Schematic Diagram 9

CHAPTER 5: HARDWARE DESCRIPTION

5.1.2. Specification of Arduino Uno 12

5.1.3. Features of Arduino Uno 13

5.1.4. Pin Diagram of Arduino Uno 14

5.1.5. Pin Description of Arduino Uno 15

5.2. Ultrasonic Sensor (HC-SR04)

5.2.1. HC-SR04 Sensor Features 17

5.2.2. Ultrasonic Sensor Pin description 18

5.3.2. Pin configuration of relay 20

5.3.3. Testing of NC/NO connection 21

5.3.4. Working of Relay 22

5.3.5. Driving a relay using microcontroller 23

5.3.6. Creation driver circuits 25

5.4. DC Geared motor

5.4.1. DC Geared motor 25

5.4.2. Working of DC Geared motor 25

5.4.3. Specification of DC Geared motor 26

5.5.2. Specification of Dynamo 27

5.6.2. Internal circuitry of Adaptor 28

5.7. Charge controller

5.7. Charge controller 29

5.7.1 Features of Controller 30

5.9 Toggle Switch

5.9.1 Toggle switch 31

5.11 Electromagnetic Brake

5.11.1 Electromagnetic Brake lever 33

6.1. Arduino Software 35