project report on environment monitoring robot

8/6/2019 Project Report on Environment Monitoring Robot

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PROJECT REPORT ON

ENVIRONMENT MONITORING ROBOT

DIPLOMA IN

SUBMITTED BY

UNDER THE GUIDANCE OF

PROF. J. ABC

SHREERAM POLYTECHNIC

CIDCO, SEC-3, AIROLI, NAVI MUMBAI-400708

FEBRUARY 2010


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CERTIFICATE

This is to certify that Mr./Ms._________________________________________(PRN:

________________) has successfully completed a project entitled Industry

Manpower and A Resource Organisation in partial fulfillment for the requirement of

B.TECH IN MECHANICAL ENGINEERING (MLEP) 9TH SEM.

Signature with Date

Project Guide SC Coordinator

Internal Examiner External Examiner

ACKNOWLEDGEMENT


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I would like to take this opportunity to express my gratitude towards all the people

who have in various ways, helped in the successful completion of my project.

I must convey my gratitude to Prof. Mathews for giving me the constant

source of inspiration and help in preparing the project, personally correcting

my work and providing encouragement throughout the project.

I also thank all my faculty members for steering me through the tough as well as

easy phases of the project in a result oriented manner with concern attention.

Thanking You,

________________

Abstract


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Embedded systems have grown tremendously in recent years, not only in their

popularity but also in their complexity. Gadgets are increasingly becoming

intelligent and autonomous. Refrigerators, air-conditioners, automobiles, mobilephones etc are some of the common examples of devices with built in intelligence.

These devices function based on operating and environmental parameters.

A robot is a virtual ormechanicalartificial agent. In practice, it is usually an

electro-mechanical machine which is guided by computer or electronic

programming, and is thus able to do tasks on its own. Another common

characteristic is that by its appearance or movements, a robot often conveys a sense

that it has intent oragency of its own.

The main principle behind this project is to develop a robot which will be

able to monitor the environmental conditions like temperature and humidity with a

wireless control.
http://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificial_agenthttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Agency_(philosophy)http://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Artificial_agenthttp://en.wikipedia.org/wiki/Electromechanicshttp://en.wikipedia.org/wiki/Intentionhttp://en.wikipedia.org/wiki/Agency_(philosophy)


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INDEX

SR.NOSR.NO TITLE PG.NO

1)1) INTRODUCTION1

2)2) BLOCK DIAGRAM5

3)3) CIRCUIT DIAGRAM8

4)4) COMPONENT LIST11

5)5) WORKING OF CIRCUIT

13

6)6) SOFTWARE DEVELOPMENT15

7)7) FARICATION OF PCB22

8)8) ADVANTAGES & DISADVANTAGES27

9)9) APPLICATION29

10)10) FUTURE MODIFICATION31

11)11) DATA SHEET33

12)12) BIBLOGRAPHY48


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Chapter 1

INTRODUCTIONINTRODUCTION

1


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INTRODUCTION

This project mainly deals with acquisition of temperature, Humidity, light byusing temperature and Humidity sensor (SHT11) interfaced with Micro controller.

The peripherals equipped here are micro controller, Temperature and humidity

sensor, power supply unit, A/D converter.

India is an agriculture dependent country where 70% of the people are

dependent on agriculture and allied activities. There are huge variations in

topography and climatic zones resulting in different rainfall, timing of the rainfall

and others.

Agriculture planning, monitoring and support need accurate weather data.

Central agencies use data from different sources to collect weather data and

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develop weather forecasts and lend advice to various agencies involved in support

operations for agriculture and allied fields. At present weather monitoring, forecast

in India is very inadequate in terms of coverage, quality and its application for day-

to-day use by the ultimate beneficiary. The weather forecast too general and cover

many times Lakhs of squire kilometers and looses any sense of practical

application to the farmers and others on when they want to decide to seed, spray

pesticide or apply water or when to harvest etc.

The main reasons for this lacuna are the centralized weather monitoring

systems (Hyderabad or Bombay), lack of weather conscious field staff, low quality

crude manual equipment and others and lack of research discipline. Very few

institutions like ICRISAT and others are using digital weather stations

Introduction to Robotics

Structure

The structure of a robot is usually mostly mechanical and can be called a kinematic

chain (its functionality being similar to the skeleton of the human body). The chain

is formed of links (its bones), actuators (its muscles), and joints which can allow

one or more degrees of freedom. Most contemporary robots use open serial chains

in which each link connects the one before to the one after it. These robots are

called serial robots and often resemble the human arm. Some robots, such as theStewart platform, use a closed parallel kinematical chain. Other structures, such as

those that mimic the mechanical structure of humans, various animals, and insects,

are comparatively rare. However, the development and use of such structures in

robots is an active area of research (e.g. biomechanics). Robots used as

3
http://en.wikipedia.org/wiki/Structurehttp://en.wikipedia.org/wiki/Machinehttp://en.wikipedia.org/wiki/Kinematicshttp://en.wikipedia.org/wiki/Actuatorhttp://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Stewart_platformhttp://en.wikipedia.org/wiki/Biomechanicshttp://en.wikipedia.org/wiki/Structurehttp://en.wikipedia.org/wiki/Machinehttp://en.wikipedia.org/wiki/Kinematicshttp://en.wikipedia.org/wiki/Actuatorhttp://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Stewart_platformhttp://en.wikipedia.org/wiki/Biomechanics


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manipulators have an end effector mounted on the last link. This end effector can

be anything from a welding device to a mechanical hand used to manipulate the

environment. The world's biggest robot, 700-ton robotic dump truck capable of

hauling 240 tons of earth at a time, served as the model for the character Long

Haul in the Transformers series

Power source

At present; mostly (lead-acid)batteries are used, but potential power sources could

be:

pneumatic (compressed gases)

hydraulics (compressed liquids)

flywheel energy storage

organic garbages (through anaerobic digestion)

feces (human, animal); may be interesting in a military context as feces of

small combat groups may be reused for the energy requirements of the robot

assistant (see DEKA's project Slingshot stirling engine on how the system

would operate)

still untested energy sources (eg Joe Cell, ...)

radioactive source (such as with the proposed Ford car of the '50); to those

proposed in movies such as Red Planet

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http://en.wikipedia.org/wiki/Weldinghttp://en.wikipedia.org/wiki/Handhttp://en.wikipedia.org/wiki/Battery_(electricity)http://en.wikipedia.org/wiki/Flywheel_energy_storagehttp://en.wikipedia.org/wiki/Red_Planet_(film)http://en.wikipedia.org/wiki/Weldinghttp://en.wikipedia.org/wiki/Handhttp://en.wikipedia.org/wiki/Battery_(electricity)http://en.wikipedia.org/wiki/Flywheel_energy_storagehttp://en.wikipedia.org/wiki/Red_Planet_(film)


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Actuation

A robot leg powered by Air Muscles

Actuators are the "muscles" of a robot, the parts which convert stored energy into

movement. By far the most popular actuators are electric motors, but there are

many others, powered by electricity, chemicals, and compressed air.

Motors: The vast majority of robots use electric motors, including brushed

and brushless DC on many robots and CNC machines, as their main can

specify how much to turn, for more precise control, rather than a "spin and

see where it went" approach.

Piezo motors: A recent alternative to DC motors arepiezo motors or

ultrasonic motors. These work on a fundamentally different principle,

whereby tinypiezoceramic elements, vibrating many thousands of times per

second, cause linear or rotary motion. There are different mechanisms of

operation; one type uses the vibration of the piezo elements to walk the

5
http://en.wikipedia.org/wiki/Musclehttp://en.wikipedia.org/wiki/Potential_energyhttp://en.wikipedia.org/wiki/Electric_motorhttp://en.wikipedia.org/wiki/Numerical_controlhttp://en.wikipedia.org/wiki/Piezoelectric_motorhttp://en.wikipedia.org/wiki/Ultrasonic_motorhttp://en.wikipedia.org/wiki/Piezoelectricityhttp://en.wikipedia.org/wiki/File:2005-11-14_ShadowLeg_Finished_medium.jpghttp://en.wikipedia.org/wiki/File:2005-11-14_ShadowLeg_Finished_medium.jpghttp://en.wikipedia.org/wiki/Musclehttp://en.wikipedia.org/wiki/Potential_energyhttp://en.wikipedia.org/wiki/Electric_motorhttp://en.wikipedia.org/wiki/Numerical_controlhttp://en.wikipedia.org/wiki/Piezoelectric_motorhttp://en.wikipedia.org/wiki/Ultrasonic_motorhttp://en.wikipedia.org/wiki/Piezoelectricity


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motor in a circle or a straight line.[12] Another type uses the piezo elements to

cause a nut to vibrate and drive a screw. The advantages of these motors are

nanometerresolution, speed, and available force for their size.[13] These

motors are already available commercially, and being used on some robots.[14][15]

Elastic nanotubes: These are a promising, early-stage experimental

technology. The absence of defects in nanotubes[disambiguation needed] enables these

filaments to deform elastically by several percent, with energy storage levels

of perhaps 10 J/cm3 for metal nanotubes. Human biceps could be replaced

with an 8 mm diameter wire of this material. Such compact "muscle" might

allow future robots to outrun and outjump humans.[16]

Sensing

Touch

Current robotic and prosthetic hands receive far less tactile information than the

human hand. Recent research has developed a tactile sensor array that mimics the

mechanical properties and touch receptors of human fingertips.[17],[18] The sensor

array is constructed as a rigid core surrounded by conductive fluid contained by an

elastomeric skin. Electrodes are mounted on the surface of the rigid core and are

connected to an impedance-measuring device within the core. When the artificial

skin touches an object the fluid path around the electrodes is deformed, producing

impedance changes that map the forces received from the object. The researchersexpect that an important function of such artificial fingertips will be adjusting

robotic grip on held objects.

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http://en.wikipedia.org/wiki/Robotics#cite_note-11http://en.wikipedia.org/wiki/Nanometrehttp://en.wikipedia.org/wiki/Robotics#cite_note-12http://en.wikipedia.org/wiki/Robotics#cite_note-13http://en.wikipedia.org/wiki/Robotics#cite_note-14http://en.wikipedia.org/wiki/Nanotubehttp://en.wikipedia.org/wiki/Wikipedia:WikiProject_Disambiguation/Fixing_linkshttp://en.wikipedia.org/wiki/Wikipedia:WikiProject_Disambiguation/Fixing_linkshttp://en.wikipedia.org/wiki/Joulehttp://en.wikipedia.org/wiki/Robotics#cite_note-15http://en.wikipedia.org/wiki/Robotics#cite_note-16http://en.wikipedia.org/wiki/Robotics#cite_note-17http://en.wikipedia.org/wiki/Robotics#cite_note-11http://en.wikipedia.org/wiki/Nanometrehttp://en.wikipedia.org/wiki/Robotics#cite_note-12http://en.wikipedia.org/wiki/Robotics#cite_note-13http://en.wikipedia.org/wiki/Robotics#cite_note-14http://en.wikipedia.org/wiki/Nanotubehttp://en.wikipedia.org/wiki/Wikipedia:WikiProject_Disambiguation/Fixing_linkshttp://en.wikipedia.org/wiki/Joulehttp://en.wikipedia.org/wiki/Robotics#cite_note-15http://en.wikipedia.org/wiki/Robotics#cite_note-16http://en.wikipedia.org/wiki/Robotics#cite_note-17


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Manipulation

Robots which must work in the real world require some way to manipulate objects;

pick up, modify, destroy, or otherwise have an effect. Thus the 'hands' of a robot

are often referred to as end effectors,[19] while the arm is referred to as a

manipulator.[20] Most robot arms have replaceable effectors, each allowing them to

perform some small range of tasks. Some have a fixed manipulator which cannot

be replaced, while a few have one very general purpose manipulator, for example a

humanoid hand.

Mechanical Grippers: One of the most common effectors is the gripper. Inits simplest manifestation it consists of just two fingers which can open and

close to pick up and let go of a range of small objects. See industrial robot

end effectors.

Vacuum Grippers: Pick and place robots for electronic components and for

large objects like car windscreens, will often use very simple vacuum

grippers. These are very simple astrictive[21] devices, but can hold very large

loads provided theprehension surface is smooth enough to ensure suction.

General purpose effectors: Some advanced robots are beginning to use

fully humanoid hands, like the Shadow Hand, MANUS,[22] and the Schunk

hand.[23] These highly dexterous manipulators, with as many as 20 degrees of

freedom and hundreds of tactile sensors.[24]

For the definitive guide to all forms of robot endeffectors, their design, and usageconsult the book "Robot Grippers".

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http://en.wikipedia.org/wiki/Robotics#cite_note-18http://en.wikipedia.org/wiki/Robotics#cite_note-19http://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Robotics#cite_note-20http://en.wikipedia.org/wiki/Prehensilityhttp://en.wikipedia.org/wiki/Robotics#cite_note-21http://en.wikipedia.org/wiki/Robotics#cite_note-22http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Robotics#cite_note-23http://en.wikipedia.org/wiki/Robotics#cite_note-18http://en.wikipedia.org/wiki/Robotics#cite_note-19http://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Industrial_robot_end_effectorhttp://en.wikipedia.org/wiki/Robotics#cite_note-20http://en.wikipedia.org/wiki/Prehensilityhttp://en.wikipedia.org/wiki/Robotics#cite_note-21http://en.wikipedia.org/wiki/Robotics#cite_note-22http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)http://en.wikipedia.org/wiki/Robotics#cite_note-23


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Locomotion

Rolling robots

For simplicity, most mobile robots have fourwheels. However, some researchers

have tried to create more complex wheeled robots, with only one or two wheels.

Two-wheeled balancing: While the Segway is not commonly thought of as

a robot, it can be thought of as a component of a robot. Several real robots

do use a similar dynamic balancing algorithm, andNASA's Robonaut has

been mounted on a Segway.[26]

Ballbot:Carnegie Mellon University researchers have developed a new type

of mobile robot that balances on a ball instead of legs or wheels. "Ballbot" is

a self-contained, battery-operated, omnidirectional robot that balances

dynamically on a single urethane-coated metal sphere. It weighs 95 pounds

and is the approximate height and width of a person. Because of its long,

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http://en.wikipedia.org/wiki/Wheelhttp://en.wikipedia.org/wiki/Segway_PThttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Robotics#cite_note-25http://en.wikipedia.org/wiki/Ballbothttp://en.wikipedia.org/wiki/Carnegie_Mellon_Universityhttp://en.wikipedia.org/wiki/Ballbothttp://en.wikipedia.org/wiki/File:Segway_01.JPGhttp://en.wikipedia.org/wiki/Wheelhttp://en.wikipedia.org/wiki/Segway_PThttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Robotics#cite_note-25http://en.wikipedia.org/wiki/Ballbothttp://en.wikipedia.org/wiki/Carnegie_Mellon_Universityhttp://en.wikipedia.org/wiki/Ballbot


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thin shape and ability to maneuver in tight spaces, it has the potential to

function better than current robots can in environments with people.[27]

Track Robot: Another type of rolling robot is one that has tracks, like

NASA's Urban Robot, Urbie.

Walking robots

Walking is a difficult and dynamic problem to solve. Several robots have been

made which can walk reliably on two legs, however none have yet been made

which are as robust as a human. Many other robots have been built that walk on

more than two legs, due to these robots being significantly easier to construct.[29][30]

Hybrids too have been proposed in movies such as I, Robot, where they walk on 2

legs and switch to 4 (arms+legs) when going to a sprint. Typically, robots on 2 legs

can walk well on flat floors, and can occasionally walk up stairs. None can walk

over rocky, uneven terrain. Some of the methods which have been tried are:

ZMP Technique: The Zero Moment Point (ZMP) is the algorithm used by

robots such as Honda's ASIMO. The robot's onboard computer tries to keep

the total inertial forces (the combination of earth's gravity and the

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http://en.wikipedia.org/wiki/Robotics#cite_note-26http://en.wikipedia.org/wiki/Robotics#cite_note-28http://en.wikipedia.org/wiki/Robotics#cite_note-29http://en.wikipedia.org/wiki/I,_Robot_(film)http://en.wikipedia.org/wiki/Stairwayhttp://en.wikipedia.org/wiki/Zero_Moment_Pointhttp://en.wikipedia.org/wiki/Hondahttp://en.wikipedia.org/wiki/Hondahttp://en.wikipedia.org/wiki/ASIMOhttp://en.wikipedia.org/wiki/Inertiahttp://en.wikipedia.org/wiki/Gravitationhttp://en.wikipedia.org/wiki/File:Icub.jpghttp://en.wikipedia.org/wiki/Robotics#cite_note-26http://en.wikipedia.org/wiki/Robotics#cite_note-28http://en.wikipedia.org/wiki/Robotics#cite_note-29http://en.wikipedia.org/wiki/I,_Robot_(film)http://en.wikipedia.org/wiki/Stairwayhttp://en.wikipedia.org/wiki/Zero_Moment_Pointhttp://en.wikipedia.org/wiki/Hondahttp://en.wikipedia.org/wiki/ASIMOhttp://en.wikipedia.org/wiki/Inertiahttp://en.wikipedia.org/wiki/Gravitation


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acceleration and deceleration of walking), exactly opposed by the floor

reaction force (the force of the floor pushing back on the robot's foot). In this

way, the two forces cancel out, leaving no moment (force causing the robot

to rotate and fall over).[31] However, this is not exactly how a human walks,

and the difference is quite apparent to human observers, some of whom have

pointed out that ASIMO walks as if it needs the lavatory.[32][33][34] ASIMO's

walking algorithm is not static, and some dynamic balancing is used (See

below). However, it still requires a smooth surface to walk on.

Hopping: Several robots, built in the 1980s by Marc Raibert at the MIT Leg

Laboratory, successfully demonstrated very dynamic walking. Initially, a

robot with only one leg, and a very small foot, could stay upright simply by

hopping. The movement is the same as that of a person on apogo stick. As

the robot falls to one side, it would jump slightly in that direction, in order to

catch itself.[35] Soon, the algorithm was generalised to two and four legs. A

bipedal robot was demonstrated running and even performing somersaults.

[36] A quadruped was also demonstrated which could trot, run,pace, and

bound.[37] For a full list of these robots, see the MIT Leg Lab Robots page.

Dynamic Balancing or controlled falling: A more advanced way for a robot

to walk is by using a dynamic balancing algorithm, which is potentially

more robust than the Zero Moment Point technique, as it constantly monitors

the robot's motion, and places the feet in order to maintain stability.[38] This

technique was recently demonstrated by Anybots' Dexter Robot,[39] which is

so stable, it can even jump.[40] Another example is the TU Delft Flame.

Passive Dynamics: Perhaps the most promising approach utilizespassive

dynamics where the momentum of swinging limbs is used for greater

efficiency. It has been shown that totally unpowered humanoid mechanisms

can walk down a gentle slope, using only gravity to propel themselves.

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http://en.wikipedia.org/wiki/Accelerationhttp://en.wikipedia.org/wiki/Reaction_(physics)http://en.wikipedia.org/wiki/Moment_(physics)http://en.wikipedia.org/wiki/Robotics#cite_note-30http://en.wikipedia.org/wiki/Toilethttp://en.wikipedia.org/wiki/Robotics#cite_note-31http://en.wikipedia.org/wiki/Robotics#cite_note-32http://en.wikipedia.org/wiki/Robotics#cite_note-33http://en.wikipedia.org/wiki/Marc_Raiberthttp://en.wikipedia.org/wiki/Massachusetts_Institute_of_Technologyhttp://en.wiktionary.org/wiki/hophttp://en.wikipedia.org/wiki/Pogo_stickhttp://en.wikipedia.org/wiki/Robotics#cite_note-34http://en.wikipedia.org/wiki/Somersaulthttp://en.wikipedia.org/wiki/Robotics#cite_note-35http://en.wikipedia.org/wiki/Quadrupedalismhttp://en.wikipedia.org/wiki/Trot_(horse_gait)http://en.wikipedia.org/wiki/Horse_gait#Pacehttp://en.wikipedia.org/wiki/Robotics#cite_note-36http://www.ai.mit.edu/projects/leglab/robots/robots-main-bottom.htmlhttp://en.wikipedia.org/wiki/Robotics#cite_note-37http://en.wikipedia.org/wiki/Robotics#cite_note-37http://en.wikipedia.org/wiki/Trevor_Blackwellhttp://en.wikipedia.org/wiki/Robotics#cite_note-38http://en.wikipedia.org/wiki/Robotics#cite_note-39http://en.wikipedia.org/wiki/Flame_(robot)http://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Momentumhttp://en.wikipedia.org/wiki/Efficient_energy_usehttp://en.wikipedia.org/wiki/Gravitationhttp://en.wikipedia.org/wiki/Accelerationhttp://en.wikipedia.org/wiki/Reaction_(physics)http://en.wikipedia.org/wiki/Moment_(physics)http://en.wikipedia.org/wiki/Robotics#cite_note-30http://en.wikipedia.org/wiki/Toilethttp://en.wikipedia.org/wiki/Robotics#cite_note-31http://en.wikipedia.org/wiki/Robotics#cite_note-32http://en.wikipedia.org/wiki/Robotics#cite_note-33http://en.wikipedia.org/wiki/Marc_Raiberthttp://en.wikipedia.org/wiki/Massachusetts_Institute_of_Technologyhttp://en.wiktionary.org/wiki/hophttp://en.wikipedia.org/wiki/Pogo_stickhttp://en.wikipedia.org/wiki/Robotics#cite_note-34http://en.wikipedia.org/wiki/Somersaulthttp://en.wikipedia.org/wiki/Robotics#cite_note-35http://en.wikipedia.org/wiki/Quadrupedalismhttp://en.wikipedia.org/wiki/Trot_(horse_gait)http://en.wikipedia.org/wiki/Horse_gait#Pacehttp://en.wikipedia.org/wiki/Robotics#cite_note-36http://www.ai.mit.edu/projects/leglab/robots/robots-main-bottom.htmlhttp://en.wikipedia.org/wiki/Robotics#cite_note-37http://en.wikipedia.org/wiki/Trevor_Blackwellhttp://en.wikipedia.org/wiki/Robotics#cite_note-38http://en.wikipedia.org/wiki/Robotics#cite_note-39http://en.wikipedia.org/wiki/Flame_(robot)http://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Passive_dynamicshttp://en.wikipedia.org/wiki/Momentumhttp://en.wikipedia.org/wiki/Efficient_energy_usehttp://en.wikipedia.org/wiki/Gravitation


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Using this technique, a robot need only supply a small amount of motor

power to walk along a flat surface or a little more to walk up a hill. This

technique promises to make walking robots at least ten times more efficient

than ZMP walkers, like ASIMO.

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http://en.wikipedia.org/wiki/Hillhttp://en.wikipedia.org/wiki/Hill


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Chapter 2

BLOCK DIAGRAMBLOCK DIAGRAM

Block Diagram

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PC

13

Micro Controller

89C51

LDR

+

LM35

ADC

0809

MAX232

SYHS-

220

Rf RX

+RELAY

MOTOR

Rf

TRANSM

ITTER

Rf

RECEIVE

R


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Chapter 3

CIRCUITCIRCUITDIAGRAMDIAGRAM

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CIRCUIT DIAGRAM

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ARTWORKARTWORK

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Chapter 4

COMPONENTCOMPONENTLISTLIST

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COMPONENT LIST

SR.No Description Qty. Price

1 Transmitter / receiver pair 1 2000

2 RELAY 4 1000

3 MCU-89c2051 1 70

4 Voltage regulator IC 7805 1 10

5 Capacitor 1uF 1 1

6 LED 4 4

7 Resistors 3 38 10uf capacitors 1 5

9 IC Base 3 15

10 PCB 1 250

11 Wires 2 25

12 Solder wire 1 25

13 HT12E/D 1 280

14 Battery 9v 2 50

17 Connector strip 1 2518 DC MOTOR 2 300

19 WHEELS 2 50

20 CHASSIS 1 100

21 ACRYLIC SHEET 1 60`

22 LM35 TEMP SENSOR 1 50

23 SYHSS HUMIDITY SENSOR 1 500

24 LDR 1 25

25 MAX232 1 15MISC 1 1000

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Chapter 5

WORKING OFWORKING OF

CIRCUITCIRCUIT

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PowerRating

How high of a voltage can you over apply to a motor? Well, all motors are (or at least should be)

rated at a certain wattage. Wattage is energy. Innefficieny of energy conversion directly relates to

heat output. Too much heat, the motor coils melt. So the manufacturers of [higher quality]

motors know how much wattage will cause motor failure, and post this on the motor spec sheets.

Do experimental tests to see how much current your motor will draw at a desired voltage.

The equation is:

Power (watts) = Voltage * Current

Stepper Motor

Stepper Motors work under a very similar principle to DC motors, except they have many coils

instead of just one. So to operate a stepper motor, one must activitate these different coils in

particular patterns to generate motor rotation. So stepper motors need to be sent patterned

commands to rotate. These commands are sent as high and low logic over several lines, and

must be pulsed in a particular order and combination. Steppers are often used because each

'step,' separated by a set step angle, can be counted and used for feedback control. For example,

a 10 degree step angle stepper motor would require 36 commands to rotate 360 degrees.

However external torque can force movement to a different step, invalidating feedback.

Therefore external torque must never exceed the holding torque of a stepper.

Notes on Stepper Motors

Stepper motors can be easily found in any 3.5" disk drive

Require special stepper motor controllers

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Have a set resolution, higher resolutions mean higher accuracy but lower holding

torque

If torque applied to stepper is greater than holding torque, stepper will lose accurate

position measurements

Voltage

Polarized (current cannot be reversed)

Typically from 5-12V, but can range to extremes in special application motors

Higher voltages generally mean more torque, but also require more power

Steppers can run above or below rated voltage (to meet other design requirements)

Most efficient at rated voltage

Current

When buying a motor, consider stall, holding, and operating current (max and

minimum)

Stall Current - The current a stepper motor requires when powered but held so that it

does not rotate

Holding Current - The current a stepper motor requires when powered but not

signaled to rotate

Operating Current - The current draw when a stepper motor experiences zero

resistance torque

It is best to determine current curves relating voltage, current, and required torque for

optimization

When a stepper motor experiences a change in torque (such as motor reversal) expect

short lived current spikes

Current spikes can be up to 2x the stall current, and can fry control circuitry if

unprotected

Use diodes to prevent reverse current to your circuitry

Check power ratings of your circuitry and use heat sinks if needed

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Power (Voltage x Current)

Running motors close to stall current often, or reversing current often under high

torque, can cause motors to melt

Heat sink motors if not avoidable

Torque

When buying a stepper motor, consider stall and operating torque (max and

minimum)

Stall Torque - The torque a stepper motor requires when powered but held so that it

does not rotate

Holding Torque - The torque a stepper motor requires when powered but not

signaled to rotate

Operating Torque - The torque a stepper motor can apply when experiencing zero

resistance torque

Changing voltage will change torque

Servo Motor

Servos are DC motors with built in gearing and feedback control loop circuitry. And no motor

drivers required!

Servos are extremely popular with robot, RC plane, and RC boat builders. Most servo motors can

rotate about 90 to 180 degrees. Some rotate through a full 360 degrees or more. However, servos

are unable to continually rotate, meaning they can't be used for driving wheels (unless modified),

but their precision positioning makes them ideal for robot arms and legs, rack and pinion

steering, and sensor scanners to name a few. Since servos are fully self contained, the velocity

and angle control loops are very easy to impliment, while prices remain very affordable. To use a

servo, simply connect the black wire to ground, the red to a 4.8-6V source, and the yellow/white

wire to a signal generator (such as from yourmicrocontroller). Vary the square wave pulse width

from 1-2ms and your servo is now position/velocity controlled.

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The SYHS-220 is a single chip relative humidity and temperature multi sensor

module comprising a calibrated digital output. The device includes a capacitive polymer

sensing element for relative humidity and a band gap temperature sensor. Both are

seamlessly coupled to a 14bit analog to digital converter and a serial interface circuit on the

same chip. This results in superior signal quality, a fast response time and insensitivity to

external disturbances (EMC) at a very competitive price.

Each SYHS-220 is individually calibrated in a precision humidity chamber with a

chilled mirror hygrometer as reference. The calibration coefficients are programmed into the

OTP memory. These coefficients are used internally during measurements to calibrate the

signals from the sensors. The 2-wire serial interface and internal voltage regulation allows

easy and fast system integration. Its tiny size and low power consumption makes it the

ultimate choice for even the most demanding applications.

The device is supplied in either a surface-mountable LCC (Leadless Chip Carrier) or

as a pluggable 4-pin single-in-line type package. Customer specific packaging options may be

available on request.

Each LM35 is individually calibrated in a precision humidity chamber with a chilled

mirror hygrometer as reference. The calibration coefficients are programmed into the OTP

memory. These coefficients are used internally during measurements to calibrate the signals

from the sensors. The 2-wire serial interface and internal voltage regulation allows easy and

fast system integration. Its tiny size and low power consumption makes it the ultimate choice

for even the most demanding applications.

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Chapter 6

SOFTWARESOFTWAREDEVELOPMENTDEVELOPMENT

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PROJECT ORGANIZATION

Software Process Model

The Project team is meeting once a week to discuss the progress made by

each member and to share the relevant information and be documents that

have been prepared. The number of meetings may increase during the final

semester as the team members will have more time.

There are reviews being conducted once a week during the team meetings.

A complete technical review will be conducted at the end of the Design

Phase. There will be reviews conducted at the completion of every testing

phase.

The major milestones to be achieved are as follows:

1. Results of research of existing system and discussions with the Project

leader.

2. Results of interview with experts and team meetings to finalize the

requirements of the software.

3. Results of the Design Phase, which include a number of modeling

diagrams, like the use cases, class diagrams, etc.

4. Results of the first coding phase will be an initial code that will be

then tested.

5. Based on the results of the testing, they code will be reviewed in the

second coding phase.

Tools and Techniques

We will require the following tools:

1. Mikrobasic C compiler

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project will be written. Also, the database will be created during this

phase. Finally, we shall conduct unit tests.

Coding Phase 2: This phase will include a review of the code created

in Phase 1. After the review, the necessary code and database will be

modified to include the results of review.

Testing Phase: We shall be following a testing program that will

involve unit testing, integration testing, and validation testing. More

information will be known after further discussion.

FLOWCHART

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29

START

Initialize All SystemVariables

OFF all Devices

Initialize RF

SEND DATA

T,H,L VALUES

If Received No

Yes

Decode It

DISPLAY

VB

PROGRAM

M

Wait for signal

SWITCH=1 If SW=2

forward back

If SW=3

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C- COMPILER

Project Manager is IDE feature which allows users to manage multiple projects.

Several projects which together make project group may be open at the same time.

Only one of them may be active at the moment. Setting project in active mode is

performed by double click on the desired project in the Project Manager.

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Code Explorer allows you to easily monitor variables, functions, procedures and

other program items. Clicking on the element positions the main window to its

definition line - very useful for finding procedures and other elements in long

units.

Library Manager enables simple handling libraries being used in a project.

Library Manager window lists all libraries (extencion .mcl) which are instantly

stored in the compiler Uses folder. The desirable library is added to the project by

selecting check box next to the library name.

Auto Correct

Auto Correct feature automatically corrects your common typing mistakes. You

can add your own preferences to the list of recognized typos.

Code Templates

You can insert code template by typing the name of the template (for instance,

whileb), followed by CTRL+J; Code Editor automatically generates the desired

code snippet. Or, you can click the button from Code Toolbar and select a template

from the list. You can add your own templates to the list, with no limitations

regarding the contents or size of the code.

Syntax Highlighting

You can configure Editor colors and syntax highlighting to best suit your needs -

from background color to specific keywords.

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PCP.C.B. MAKING

P.C.B. is printed circuit board which is of insulating base with layer of thin

copper-foil.

The circuit diagram is then drawn on the P. C. B. with permanent marker and

then it is dipped in the solution of ferric chloride so that unwanted copper is

removed from the P.C.B., thus leaving components interconnection on the board.

The specification of the base material is not important to know in most of the

application, but it is important to know something about copper foil which is

drawn through a thin slip.

The resistance of copper foil will have an affect on the circuit operation.

Base material is made of lamination layer of suitable insulating material such as

treated paper, fabric; or glass fibers and binding them with resin. Most commonly

used base materials are formed paper bonded with epoxy resin.

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It is possible to obtain a range of thickness between 0.5 mm to 3 mm.

Thickness is the important factor in determining mechanical strength

particularly when the commonly used base material is Formea from

paper assembly.

Physical properties should be self supporting these are surface

resistivity, heat dissipation, dielectric, constant, dielectric strength.

Another important factor is the ability to wishstand high temperature.

DESIGNING THE LAYOUT :

While designing a layout, it must be noted that size of the board should be as

small as possible.

Before starting, all components should be placed properly so that an

accurate measurement of space can be made.

The component should not be mounted very close to each other or far

away from one another and neither one should ignore the fact that some

component reed ventilation, which considerely the dimension of the relay

and transformer in view of arrangement, the bolting arrangement is also

considered.

The layout is first drawn on paper then traced on copper plate which is finalized

with the pen or permanent marker which is efficient and clean with etching.

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The resistivity also depends on the purity of copper, which is highest for low

purity of copper. The high resistance path are always undesired for soldered

connections.

The most difficult part of making an original printed circuit is the conversion from,

theretical circuit diagram into wiring layout. without introducing cross over and

undesirable effect.

Although it is difficult operation, it provides greatent amount of satisfaction

because it is carried out with more care and skill.

The board used for project has copper foil thickness in the range of 25 40 75

microns.

The soldering quality requires 99.99% efficiency.

It is necessary to design copper path extra large. There are two main reasons for

this,

The copper may be required to carry an extra large overall current:-

It acts like a kind of screen or ground plane to minimize the effect of interaction.

The first function is to connect the components together in their right sequence

with minimum need for interlinking i.e. the jumpers with wire connections.

It must be noted, that when layout is done, on the next day it should be dipped in

the solution and board is move continuously right and left after etching perfectly

the board is cleaned with water and is drilled.

After that holes are drilled with 1 mm or 0.8 mm drill. Now the marker on the P.

C. B. is removed.

The Printed Circuit Board is now ready for mounting the components on it.35


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SOLDERING :

For soldering of any joints first the terminal to be soldered are cleaned to remove

oxide film or dirt on it. If required flux is applied on the points to be soldered.

Now the joint to be soldered is heated with the help of soldering iron. Heat

applied should be such that when solder wire is touched to joint, it must melt

quickly.

The joint and the soldering iron is held such that molten solder should flow

smoothly over the joint.

When joint is completely covered with molten solder, the soldering iron is re-

moved.

The joint is allowed to cool, without any movement.

The bright shining solder indicates good soldering.

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In case of dry solder joint, a air gap remains in between the solder matenal and

the joint. It means that soldering is improper. This is removed and again solder-

ing is done.

Thus is this way all the components are soldered on P. C. B.

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Chapter 8

ADVANTAGESADVANTAGES

&&

DISADVANTAGESDISADVANTAGES

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ADVANTAGES:-

1) As all operation is controlled through MICROCONTROLLER

human interfacing is minimized.

2) As human interfacing is minimized maintenance is lowered.

3) Give more accuracy, works continuously & gives consistency.

4) Rugged to withstand heat and additional pressure

DISADVANTAGES:-

1) It only works on programming.

2) It needs to be plugged into the Computer

3) It has a battery life.

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Chapter 9

APPLICATIONAPPLICATION

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APPLICATION:-

1) Weather data acquisition

2) Installation in Railways

3) Commercial buildings for data gathering

4) Scientific data

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Chapter 10

FUTUREFUTURE

MODIFICATIONSMODIFICATIONS

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FUTURE MODIFICATION

1) Integrating GPS for accurate location management.

2) Integrating additional sensors

3) Making it wireless

4) Wind module

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Chapter 11

DATA SHEETDATA SHEET

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The 89C51 microcontroller

The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with

4K bytes of Flash programmable and erasable read only memory (PEROM). The device is

manufactured using Phillipss high-density nonvolatile memory technology and is compatible

with the industry-standard MCS-51 instruction set and pin out. The on-chip Flash allows the

program memory to be reprogrammed in-system or by a conventional nonvolatile memory

programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Phillips

AT89C51 is a powerful microcomputer which provides a highly-flexible and cost-effective

solution to many embedded control applications.

The AT89C51 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 Hardware reset.

Features of 89C51

Compatible with MCS-51 Products

4K Bytes of In-System Reprogrammable Flash Memory Endurance: 1,000

Write/Erase Cycles

Fully Static Operation: 0 Hz to 24 MHz

Three-level Program Memory Lock

128 x 8-bit Internal RAM

32 Programmable I/O Lines

Two 16-bit Timer/Counters

Six Interrupt Sources

Programmable Serial Channel

Low-power Idle and Power-down Modes

Pin Diagram of 89C51:

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Block Diagram

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Brief Description

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The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with

4K bytes of Flash programmable and erasable read only memory (PEROM). The device is

manufactured using Phillipss high-density nonvolatile memory technology and is compatible

with the industry-standard MCS-51 instruction set and pinout. The on-chip Flash allows the

program memory to be reprogrammed in-system or by a conventional nonvolatile memory

programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Phillips

AT89C51 is a powerful microcomputer which provides a highly-flexible and cost-effective

solution to many embedded control applications.

Pin Description

VCC

Supply voltage.

GND

Ground.

Port 0

Port 0 is an 8-bit open-drain bi-directional I/O port. As an output port, each pin can

sink eight TTL inputs. When 1s are written to port 0 pins, the pins can be used as high

impedance inputs. Port 0 may also be configured to be the multiplexed low order address/data

bus during accesses to external program and data memory. In this mode P0 has internal pull-ups.

Port 0 also receives the code bytes during Flash programming, and outputs the code bytes during

program verification. External pull-ups are required during program verification.

Port 1

Port 1 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 1 output

buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins they are pulled high

by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally beingpulled low will source current (IIL) because of the internal pull-ups. Port 1 also receives the low-

order address bytes during Flash programming and verification.

Port 2

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buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins they are pulled

high by the internal pull-ups and can be used as inputs. As inputs, Port 2 pins that are

externally being pulled low will source current (IIL) because of the internal pull-ups. Port 2

emits the high-order address byte during fetches from external program memory and during

accesses to external data memory that uses 16-bit addresses (MOVX @ DPTR). In this

application, it uses strong internal pull-ups when emitting 1s. During accesses to external

data memory that uses 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the P2

Special Function Register.

Port 2 also receives the high-order address bits and some control signals during Flash

programming and verification.

Port 3


buffers can sink/source four TTL inputs. When 1s are written to Port 3 pins they are pulled

high by the internal pull-ups and can be used as inputs. As inputs, Port 3 pins that are

externally being pulled low will source Current (IIL) because of the pull-ups. Port 3 also

serves the functions of various special features of the AT89C51 as listed below:

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Port Pin Alternate Functions

P3.0 RXD (serial input port)

P3.1 TXD (serial output port)

P3.2 INT0 (external interrupt 0)

P3.3 INT1 (external interrupt 1)

P3.4 T0 (timer 0 external input)

P3.5 T1 (timer 1 external input)

P3.6 WR (external data memory write strobe)

P3.7 RD (external data memory read strobe)

Port 3 also receives some control signals for Flash programming and verification.

RST

Reset input. A high on this pin for two machine cycles while the oscillator is running

resets the device.

ALE/PROG

Address Latch Enable output pulse for latching the low byte of the address during

accesses to external memory. This pin is also the program pulse input (PROG) during Flash

programming. In normal operation ALE is emitted at a constant rate of 1/6 the oscillator

frequency, and may be used for external timing or clocking purposes. Note, however, that

one ALE pulse is skipped during each access to external Data Memory. If desired, ALE

operation can be disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is

active only during a MOVX or MOVC instruction. Otherwise, the pin is weakly pulled high.

Setting the ALE-disable bit has no effect if the microcontroller is in external execution mode.

PSEN

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Chapter 12

BIBILIOGRAPHYBIBILIOGRAPHY

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BIBLOGRAPHY

1) Operational amplifiers : Op-Amps & Linear Integrated Circuits,

By: Ramakant.A.Gayakwad, 3rd edition

Prints Hall International Publication (1996)

2) Electronics for You.

3) www.google.com, www.EFY.com

4) Frank Wahid, Embedded System

5) Muhammad Ali Mazidi, The 8051 Microcontroller and Embedded System

6) V.K. Mehta, Principles of Electronics

7) www.atmel.com

8) www.electronicsforyou.com

9) "Industry Spotlight: Robotics from Monster Career Advice".

http://content.monster.com/articles/3472/18567/1/industry/12/home.aspx. Retrieved

2007-08-26.10) According to the Oxford English Dictionary, the term "robotics" was first used in the

short story "Liar!" published in the May, 1941 issue ofAstounding Science Fiction.

11) "Robotics: About the Exhibition". The Tech Museum of Innovation.

http://www.thetech.org/exhibits/online/robotics/universal/index.html. Retrieved 2008-09-.

12) Imitation of Life: A History of the First Robots

13) Waurzyniak, Patrick (2006-07). "Masters of Manufacturing: Joseph F. Engelberger".Society of Manufacturing Engineers137 (1).http://www.sme.org/cgi-bin/find-articles.pl?

&ME06ART39&ME&20060709#article.

14) "Company History". Fuji Yusoki Kogyo Co..http://www.fujiyusoki.com/English/rekishi.htm. Retrieved 2008-09-12.

54
http://www.google.com/http://www.efy.com/http://www.atmel.com/http://www.electronicsforyou.com/http://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.cerebromente.org.br/n09/historia/turtles_i.htmhttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://opt/scribd/conversion/tmp/scratch7434/Company%20Historyhttp://www.fujiyusoki.com/English/rekishi.htmhttp://www.google.com/http://www.efy.com/http://www.atmel.com/http://www.electronicsforyou.com/http://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://content.monster.com/articles/3472/18567/1/industry/12/home.aspxhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.thetech.org/exhibits/online/robotics/universal/index.htmlhttp://www.cerebromente.org.br/n09/historia/turtles_i.htmhttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://www.sme.org/cgi-bin/find-articles.pl?&ME06ART39&ME&20060709#articlehttp://opt/scribd/conversion/tmp/scratch7434/Company%20Historyhttp://www.fujiyusoki.com/English/rekishi.htm


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15) "KUKA Industrial Robot FAMULUS". http://www.kuka-

robotics.com/en/company/group/milestones/1973.htm. Retrieved 2008-01-10.

16) Asimov, Isaac (1996) [1995]. "The Robot Chronicles". Gold. London: Voyager.

pp. 224-225. ISBN 0-00-648202-

Source code

$regfile = "reg51.dat"

$crystal = 11059200

$baud = 9600

Dim A As Byte

Dim B1 As Byte

Dim A1 As Bit

Dim C As Bit

Dim D As Word

Dim E As Byte

Dim Count As Byte

Declare Sub Test(b1.0 As Bit , B1.1 As Bit , B1.2 As Bit , A)

Declare Sub Ir(count As Byte , C As Bit )

Main:

Count = 0

'Print "READY"

Set P0

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Set P3.2

'A Alias P0

Alt Alias P2.2

St Alias P2.0

Eoc Alias P2.1

B1.0 Alias P2.5

B1.1 Alias P2.4

B1.2 Alias P2.3

B1.0 = 0

B1.1 = 0

B1.2 = 0

Set Eoc

'P2 = B1

Do

'For B1 = 0 To 7

'Print "ready"

E = Inkey()

If E = "1" Then

Call Test(0 , 0 , 0)

'Print A

End If

'''''''''''''''''''''

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If E = "2" Then


'Print A

End If

'''''''''''''''''''''''''''''''

If E = "3" Then


'Print A

End If

''''''''''''''''''''''''''''''

If E = "4" Then


'Print A

End If

'''''''''''''''''''''''''''''''

If E = "5" Then


'Print A

End If

''''''''''''''''''''''''''''''''

'If E = "6" Then

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'Call Ir()

'Print A

'End If

'Call Test(1 , 0 , 1)

'Print "SAMPLE2" ; A

'Call Test(0 , 1 , 1)


'Call Test(1 , 1 , 1)


'Next

'Print "end"

Loop

End

Sub Test(b1.0 As Bit , B1.1 As Bit , B1.2 As Bit , A)

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Alt = 0

St = 0

Eoc = 1

P2.5 = B1.0

P2.4 = B1.1

P2.3 = B1.2 '= A3

Alt = 1

St = 1

Alt = 0

St = 0

Eoc = 0

Waitms 10

Eoc = 1

'If Eoc = 1 Then

A = P0

Print A

'Print Eoc

'Wait 2

End Sub

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project report on environment monitoring robot

Documents