A Project Report on

AURDINO BASED RADAR SYSTEM USING ULTRASONIC

SENSOR

IN PARTIAL FULFILLMENT OF THE REQUIREMENT

FOR AMIE PROGRAMME IN
ELECTRONICS AND COMMUNICATION ENGINEERING

Submitted to

Submitted by

K.NAGA PRAVALLIKA
ST-688962-5
KAKINADA-533003

JULY 2019

Under the guidance & supervision of

Ms. M.SAILAJA , MIE

ASSOCIATE PROFESSOR(JNTUK)
 CERTIFICATE

This is to certify that the project work entitled “AURDINO BASED RADAR SYSTEM USING ULTRASONIC
SENSOR” was done by Ms. K. NAGA PRAVALLIKA (ST-688962-5) in partial fulfilment for the
award of AMIE in Electronics and Communication Engineering under “The Institution of Engineers
(India)” during the year 2019(July/August) under my guidance. Certified that this is the bonafide
record of the project work done by the above student.

Place: KAKINADA
Date:

Ms. M SAILAJA , MIE

ASSOCIATE PROFESSOR (JNTUK)
 DECLARATION
I, Ms K.NAGA PRAVALLIKA (ST-688962-5) hereby declare that this work is
original and has not been submitted earlier to any other institution for the fulfilment of the
requirement of a course of study.

Date: K.NAGA PRAVALLIKA

Place: Kakinada (ST-688962-5)

COUNTER SIGNATURE

(Ms. M SAILAJA ) ,
MIE, ASSOCIATE PROFESSOR (JNTUK)
 ACKNOWLEDGEMENT

I am greatly indebted to my project guide Ms. M SAILAJA MIE, ASSOCIATE PROFESSOR

(JNTUK), for his exemplary guidance, encouragement moral support, timely suggestion and direct
involvement during the entire period of this project work which helped me to complete the project
work successfully.

I would like convey my thanks and gratitude to the Engineer In-Charge, Research &
Development division lab at Centum Rakon for his valuable and constructive suggestions during
the planning and development of this project work. Also I would like to thank Deputy Director,
Centum Rakon for allow me to do the project in Centum.

I am very thankful to Institution of Engineers (India) for giving me an opportunity to do

AMIE Course.

Finally I would like to thank my family who were my support throughout my study of this
AMIE course and its project.
 SYNOPSIS
Title of the Project:-

“ARDUINO BASED RADAR SYSTEM USING ULTRASONIC SENSOR”

Objectives of the study:-

The goal of this project is to detect and measure the distance of the object and to indicate the
people if any object draws close to his vehicle it alerts the person with the help of Buzzer and the
distance is displayed on LCD. So that,we can prevent accidents or minor scratches to the vehicles.
This system has an Arduino which is connected to an Ultrasonic Sensor which is attached on a DC
Motor. This System is efficient and less costly and less time consuming.

Scope of the study:-

The project is designed and developed with AVR 8–bit microcontroller, which works abundantly
well in all conditions with proper detection of 0–180degrees objects and also 2–400cm ranged
distance objects. The components used for this project are easily available and cheap to use large
range of detection can be attained by changing the specifications of ultrasonic sensor and
servomotor. It can also be improved in such a way that as soon as an object is detected the data of
detection is processed and sent to authorities with an alert of where exactly the object was detected.
Hence, this system proves to be a guard 24*7monitoring in the prohibited area.

Detailed methodology to be used for carrying out the study:-

It consists of AVR microcontroller (ATmega328p-pu), SG90 Servomotor, SR–04 Ultrasonic sensor

module, AC–DC power supply, Timing and control circuit and LCD module.

Initially 230V/50Hz AC voltage is converted into +5V DC for the system drive, hence our all
electronic components work on +5V DC, we are regulating input voltage to 5V.

Once all the components in the system are active, we can see the information displaying on LCD
module. In this16×2 LCD Module is been used for this project to display all the information.

When microcontroller sends PWM (Pulse Width Modulation) signal to Servomotor, then servo will
rotate from 0 degrees to 180 degrees deflection. As the servo rotates, the ultrasonic sensor placed on
it also changes its sensing area.
When Ultrasonic sensor is given with trigger signal, the object in front of it will reflect the
Ultrasonic waves, which converted to distance measured. This is the distance where object is
detected.

Meanwhile when servo is rotating it also sends angle at which it is rotating all the time, once Object
is detected, it will send the angle at which object is detected. The system is activated all the Time
till power is given; if we want we can connect battery to this for making it portable.

The ultrasonic sensor will sense up to 400cm and over 180 degree full rotation. So this system is
most similar like RADAR principle of detecting objects.
BLOCK DIAGRAM OF AURDINO BASED RADAR SYSTEM
USING ULTRASONIC SENSOR

A POWER
DETECTION RANGE
ULTRASONIC T SUPPLY
SENSOR
M UNIT

SERVO MOTOR E TIMING AND

0° TO 180° G CONTROL
DEFLECTION
A CIRCUIT

LCD DISPLAY DEVICE

List of activities to be carried out to complete the project:

The following table (Table-1) is showing the approximate time required for completion of
the project. The whole project work is divided in different work activity. And each work activity
has provided approximately time. This table is also showing total time duration for the project and
time distribution for the each activity.

S. No. Activity Duration(Days)

1 Preparation of synopsis 2
Literature study and data collection
2 4
Circuit design and simulation
3 3
4 Layout design and BOM preparation 3
5 Fabrication of Sample and testing its operation 5
Completion of final project report
6 3
7 Submission of report 3

Total time taken for entire project 23 Days

Table -1 Time distribution and total time required for completion for project.

Synopsis Submitted By Synopsis Approved By

K.NAGA PRAVALLIKA Ms. SAILAJA

ST-688962-5 MIE, ASSOCIATE PROFESSOR

(JNTUK)
 ABSTRACT
Detection and Ranging (RADAR), a device that can be used to monitor distinct area continuously.
Safety and security system has been our primary concern since ages it is a detection system which
utilizes radio waves to decide the range, angle or velocity of object. The main intent of this project,
is from the idea of the self-driving cars and self-parking cars. The main problem of the people in the
world is safety while driving. So, this gave up a solution to that by making use of this project to
continuously scan the area for traffic, population etc. and as well as protection of the vehicles. If
any object draws close to his vehicle it alerts the person with the help of Buzzer and the distance is
displayed on LCD. So that we can prevent accidents or minor scratches to the vehicles... The
location and the distance of the object is measured and indicated to the people. This system has an
Arduino which is connected to an Ultrasonic Sensor which is attached on a DC Motor.

AVR was one of the first microcontroller families to use on-chip flash memory for program storage
as opposed to one-time programmable ROM, EPROM, or EEPROM used by other microcontrollers
at the time.

Based on the below mentioned process flow the whole working of this project takes place.

a. Downloading the Arduino Code to AVR controller.

b. Connecting all system peripherals as shown in diagram.

c. Power the system with proper power supply.

d. System starts detecting object in 0 – 180 degree range with 2 – 400 cm distance.

e. If you keep any object in front of the sensor, it will measure the distance and angle at which
object is detected.

f. Similar process for multiple objects.

g. The information is displayed on LCD module

 CONTENTS

1.0 INTRODUCTION

1(A) RADAR SYSTEM 1-3

1(B) MANUFACTURE OF RADAR USING ULTRASONIC SENSOR & AVR
MICROCONTROLLER 4

2.0 BLOCK DIAGRAM 5

3.0 THEORY 6-9

4.0 CIRCUIT DIAGRAM

4.1(A) CIRCUIT DESCRIPTION 10-11

4.1(B) WORKING OPERATION 12

5.0 COMPONENT DETAILS 13-34

6.0 EXPERIMENT 35-40

7.0 ADVANTAGES 42

8.0 APPLICATION 43

9.0 CONCLUSION 44

10.0 REFERRENCES 45
1.0 INTRODUCTION
 INTRODUCTION
1(A) RADAR SYSTEM:

When thinking about radar application, for most people, the first thing that comes into the mind are
the radar systems checking traffic speed, used by the police to reduce speeding on public streets.
The uses of radar applications are previously limited to official users and the military, has recently
entered new application areas, resulting in greater general use.

Since electronic components have become a lot smaller the market has opened up for mass
consumption. Today’s radar systems are easy to handle, more precise, and affordable.

We mainly distinguish between two kinds of radar systems: the pulse radar - sending out a short
electromagnetic pulse, calculating the distance to an object based on the reflection of the signal and
continuous wave radar, which sends a continuous frequency from an antenna, which is reflected by
the target and received again with a Doppler shift. Based on the Doppler shift it is possible to
calculate the speed of an object. Modern radar systems often gain a lot more information from the
echo signal of a target, but the calculation of distance and speed based on a runtime and Doppler
measurement are the most important characteristics of radar systems.

Principle of ultrasonic detection:

Sound is mechanical wave travelling through the mediums, which may be a solid, or liquid or gas.
Sound waves can travel through the mediums with specific velocity depends on the medium of
propagation. The sound waves which are having high frequency reflect from the boundaries and
produces distinctive echo patterns.

As the name indicates ultrasonic sensors measures the distance by using ultrasonic waves. The
sensor head emits an ultrasonic wave and receives the wave reflected back from the target.
Ultrasonic sensors measure the distance to the target by measuring the time between the emission
and reception. An optical sensor has a transmitter and a receiver, whereas an ultrasonic sensor uses
a single ultrasonic element for both emission and reception. In a reflective model ultrasonic sensor,
a single oscillator emits and receives ultrasonic waves alternately. This enables miniaturization of
the sensor head.

The distance can be calculated by the following formula:

Distance L=1/2 *T*C

1
Where L is the distance,

T is the time between the emission and reception,

And C is the sonic speed.

Here the value is multiplied by ½ because T is the time for go and return distance.

Features:

Transparent object detectable:

Since ultrasonic waves can reflect off a glass or liquid surface and return to the sensor head, even
transparent targets can be detected.

Resistant to mist and dust:

Detection is not accumulated by dust or dirt.

Complex shaped objects detectable:

Presence detection is stable even for targets such as mesh trays or springs.

An ultrasonic transducer is affixed to a stainless steel pan which is filled with a solvent and a square
wave is applied to it, conferring vibration energy on the liquid.

The ultrasonic distance sensors measures distance using sonar; an ultrasonic (well above human
hearing) beat is transmitted from the unit and distance to target is determined by measuring the time
required for the echo return. Output from the ultrasonic sensor is a variable-width beat that
compares to the distance to the target. Under control of a host microcontroller, the sensor emits a
short 40 KHz explosion. This explosion ventures travels through the air, hits an article and after that
bounces once again to the sensor.

Arduino is an open source programmable circuit board that can be integrated into a wide variety of
maker space projects both simple and complex. This board contains a microcontroller which is able
to program to sense and control objects in the physical world. By responding to sensors and inputs,
the Arduino is able to interact with a large array of outputs such as LEDs, motors and displays.
Because of its flexibility and low cost, Arduino has become a very popular choice for makers and
maker’s space looking to create interactive hardware projects.

Servo implies an error sensing feedback control which is utilized to correct the performance of the
system. It also requires a generally sophisticated controller, often a dedicated module designed

2
particularly for use with servomotors. Servomotors are DC motors that allows for precise control of
angular position. They are actually DC motors whose speed is slowly lowered by the gears. The
servomotors usually have a revolution cutoff from 90° to 180°. A few servo motors also have
revolution cutoff of 360° or more. But, servo motors do not rotate constantly. Their rotation is
limited in between the fixed angles.

Motor drivers are circuits used to run motor. In other words, they are commonly used for motor
interfacing. These drive circuits can be easily interfaced with the motor and their selection depends
upon the type of motor being used and their ratings (current, voltage).

Therefore, these radar systems will be having more advantages and can be used in daily
applications. As the ultrasonic sensors have high frequency, high sensitivity and high penetrating
power therefore they can easily detect the external or deep objects. These sensors have great
accuracy then other methods for measuring the thickness and depth of a parallel surface.

Liquid crystal displays (LCDs) are a commonly used to display data in devices such as calculators,
microwave ovens, and many other electronic devices. A 16*2 LCD display is very basic module
and is very commonly used in various devices and circuits. These modules are preferred over seven
segments and other multi segment LEDs. The liquid has a unique advantage of having low power
consumption than the LED or cathode ray tube. Liquid crystal display screen works on the principle
of blocking light rather than emitting light. LCDs require back light as they do not emits light by
them.

3
1(B) MANUFACTURE OF RADAR USING ULTASONIC SENSOR AND AVR
MICROCONTROLLER:
Recent breakthroughs in radar technology combined with the demand for compact, affordable and
high precision radar for military and commercial applications, has led to a renaissance in the
methods and uses of radar. Many of the upcoming sectors of technology growth, namely unmanned
aerial vehicles, autonomous vehicles, rely upon solid state radar and new methods of fabrication and
programming.

So this project have come up with how the radar technology is emerging in the world, how does it
works and to study that is it possible to implement such a circuit for our daily applications.

It is manufactured just with the use of available components such as microcontroller, sensor, motor,
LCD screen etc.

Generally there must be a sensor to work as a radar system. This sensor will detect the objects and
the sensor cannot be placed or fixed to one direction itself. To detect the objects in all surrounding it
has to rotate. For this rotating purpose a motor is used in this project and it rotate to a maximum
degree of 180. The information detected must be noted by the system and should be received by us.
There will be a LCD interface which acts as an interface between system and us. This displays and
gives information about the distance where the object is located and in which angle also. The
information required by us should be programmed into LCD and microcontroller.

This completely works based on the program that has dumped into the microcontroller. This sends
some signals to each part connected to it and will work accordingly to that.

4
2.0 BLOCK DIAGRAM
BLOCK DIAGRAM

A
Detection Range Power Supply
T
Unit
Ultrasonic
M
Sensor
E

A Timing and control

circuit
0 – 180 Deflection 328

LCD Display Device

5
3.0 THEORY
THEORY:

HARDWARE:
In this project the main aim is to detect the obstacles or objects and send an indication after its
detection. The hardware used in this is easily available and this can be used for small range of
applications.

In this the microcontroller pins were connected in such a way that the trigger pin of the ultrasonic
sensor is connected to its 3rd pin. Whereas the received echo signal is connected to the 2 nd of the
microcontroller.

To rotate this sensor in different directions it has to be connected to the motor and that motor is
connected to the 11th pin of the microcontroller to receive the initiated PWM signal from
microcontroller.

Whereas there were green and red LEDs for indication and those were connected to 3rd and 13th pins
of the controller respectively. Finally the buzzer should start the beep sound after the object has
detected so, this is connected to the 12th pin.

In the same manner 16 MHZ crystal is connected to XTAL 1 and 2 of the controller.

SOFTWARE:

AT MEGA 328:

ATMEGA328P is high performance, low power controller from Microchip. ATMEGA328P is an 8-bit
microcontroller based on AVR RISC architecture. It is the most popular of all AVR controllers as it
is used in ARDUINO boards.

ATMega328 Pin Configuration

ATMEGA328P is a 28 pin chip as shown in pin diagram above. Many pins of the chip here have more than one
function. We will describe functions of each pin in below table.

6
Pin Pin name Description Secondary Function
No.

1 PC6 (RESET) Pin6 of PORTC Pin by default is used as RESET pin. PC6 can only be used as I/O pin
when RSTDISBL Fuse is programmed.

2 PD0 (RXD) Pin0 of PORTD RXD (Data Input Pin for USART)
USART Serial Communication Interface
[Can be used for programming]

3 PD1 (TXD) Pin1 of PORTD TXD (Data Output Pin for USART)
USART Serial Communication Interface
[Can be used for programming]

INT2( External Interrupt 2 Input)

4 PD2 (INT0) Pin2 of PORTD External Interrupt source 0

5 PD3 Pin3 of PORTD External Interrupt source1

(INT1/OC2B)

OC2B(PWM - Timer/Counter2 Output Compare Match B Output)

6 PD4 (XCK/T0) Pin4 of PORTD T0( Timer0 External Counter Input)

XCK ( USART External Clock I/O)

7 VCC Connected to positive voltage

8 GND Connected to ground

9 PB6 Pin6 of PORTB XTAL1 (Chip Clock Oscillator pin 1 or External clock input)
(XTAL1/TOSC1)
TOSC1 (Timer Oscillator pin 1)

10 PB7 Pin7 of PORTB XTAL2 (Chip Clock Oscillator pin 2)

(XTAL2/TOSC2)
TOSC2 (Timer Oscillator pin 2)

7
11 PD5 Pin5 of PORTD T1(Timer1 External Counter Input)
(T1/OC0B)
OC0B(PWM - Timer/Counter0 Output Compare Match B Output)

12 PD6 Pin6 of PORTD AIN0(Analog Comparator Positive I/P)

(AIN0/OC0A)

OC0A(PWM - Timer/Counter0 Output Compare Match A Output)

13 PD7 (AIN1) Pin7 of PORTD AIN1(Analog Comparator Negative I/P)

14 PB0 Pin0 of PORTB ICP1(Timer/Counter1 Input Capture Pin)

(ICP1/CLKO)

CLKO (Divided System Clock. The divided system clock can be output
on the PB0 pin)

15 PB1 (OC1A) Pin1 of PORTB OC1A (Timer/Counter1 Output Compare Match A Output)

16 PB2 (SS/OC1B) Pin2 of PORTB SS (SPI Slave Select Input). This pin is low when controller acts as
slave.
[Serial Peripheral Interface (SPI) for programming]

OC1B (Timer/Counter1 Output Compare Match B Output)

17 PB3 Pin3 of PORTB MOSI (Master Output Slave Input). When controller acts as slave, the
(MOSI/OC2A) data is received by this pin. [Serial Peripheral Interface (SPI) for
programming]
OC2 (Timer/Counter2 Output Compare Match Output)

18 PB4 (MISO) Pin4 of PORTB MISO (Master Input Slave Output). When controller acts as slave, the
data is sent to master by this controller through this pin.

[Serial Peripheral Interface (SPI) for programming]

19 PB5 (SCK) Pin5 of PORTB SCK (SPI Bus Serial Clock). This is the clock shared between this
controller and other system for accurate data transfer.
[Serial Peripheral Interface (SPI) for programming]

20 AVCC Power for Internal ADC Converter

8
21 AREF Analog Reference Pin for ADC

22 GND GROUND

23 PC0 (ADC0) Pin0 of PORTC ADC0 (ADC Input Channel 0)

24 PC1 (ADC1) Pin1 of PORTC ADC1 (ADC Input Channel 1)

25 PC2 (ADC2) Pin2 of PORTC ADC2 (ADC Input Channel 2)

26 PC3 (ADC3) Pin3 of PORTC ADC3 (ADC Input Channel 3)

27 PC4 (ADC4/SDA) Pin4 of PORTC ADC4 (ADC Input Channel 4)

SDA (Two-wire Serial Bus Data Input/output Line)

28 PC5 (ADC5/SCL) Pin5 of PORTC ADC5 (ADC Input Channel 5)

SCL (Two-wire Serial Bus Clock Line)

The coding has been mentioned in the experiment section along with the output.

9
4.0 CIRCUIT DIAGRAM
The circuit diagram for this project is as follows

10
The circuit with the pins connection to at mega 328 p is as below:

11
4.1(A).CIRCUIT DESCRIPTION:

The whole circuit requires the DC power supply to work with all the components. This small DC
voltage can be achieved by converting the 230V A.C supply into D.C. Here there is a 12V step
down transformer which converts this high input voltage into low voltage and is followed by the
bridge rectifier circuit which plays a major role in the conversion of AC to pulsating DC. Then the
capacitor acts as a filter which converts the pulsating dc into DC. Even though there will be small
ripples in the filtered output. This has to be regulated by using the regulator to get the constant and
pure dc. The regulator makes the voltages into +5V with the input of +12V.

The main part of the whole circuit is the AT Mega 328 microcontroller. The 16 MHz crystal
oscillator connected with the capacitors to this microcontroller used to send the clock signal to that.
The SG 90 servo motor which covers the area of maximum 180° and is activated by the PWM
signal received from the microcontroller.

The ultrasonic sensor is placed on top of the servo motor, hence, when this motor rotates, it also
rotates the sensor. The sensor has two signals for input and output that is trigger and echo
respectively. This sensor detects the objects by sending the input signal and there will be an echo
signal, the acknowledged signal after the object detection. Here is a buzzer and a LED which are
used as a indication after the object detection.

The information of the object is displayed on the LCD screen such as distance, angle etc.

4.1(B).WORKING OPERATION:
The whole circuit will be operated with a +5V dc. This dc voltage will come from the rectifier
circuit followed by the filter and regulator. This means that the AC voltage of 230V is converted
into DC by this rectifier circuit.

With this +5V dc supply all the components in the circuit gets activate and starts performing their
functions. Now, we can see that the information will be displayed on the screen.

Initially the code that is uploaded in the microcontroller starts processing and will be operating the
devices connected to it according to the program.

At first the microcontroller will send a PWM signal to the servomotor and it starts rotating. As the
sensor is placed on top of motor, it also starts rotating and changes in direction. This sensor has
both transmitter and the receiver. This sensor keeps on sending the ultrasonic waves and if it hits
any object in its certain area the wave will be reflected back to the sensor. Then the information of
the object that is the angle in which the object is located and the distance at which the object is
present will be displayed on the LCD screen. Meanwhile the buzzer will start ringing and the LED
will start blowing indicating that some object has been identified. The buzzer starts it beep sound
continuously when the object is coming closer to it a red LED bulb will glow. Normally if the
object is at a distance a green led will glow there will be only one beep and the information is
displayed on the LCD screen.

12
5.0 COMPONENTS
DETAILS
COMPONENT INVOLVES:

S.NO COMPONENT RANGE QUANTITY

1. SG 90 SERVO MOTOR 0 TO 180 DEGREES 1#

2. SR-04 ULTRASONIC SENSOR 400CM MAXIMUM 1#

MODULE
3. MICROCONTROLLER ATMEGA-328 01#

4. LCD module 12C 01#

5. Transformer 12V, 2A 1#

6. KDS 16.000 16 MHz 1#

7. Resistors 560Ω, 1.2kΩ 4#

8. Capacitors 1000pf, 22pf 3#

9. Regulator 7805 1#

10. LED - 03#

11. Diode IN 4007 - 04#

12. Buzzer - 01#

13
COMPONENTS DETAILS:
1. SG90 SERVOMOTOR:
Tiny and lightweight with high output power. Servo can rotate approximately 180 degrees (90 in
each direction), and works just like the standard kinds but smaller. You can use any servo code,
hardware or library to control these servos. Good for beginners who want to make stuff move
without building a motor controller with feedback & gear box, especially since it will fit in small
places. It comes with a 3 horns (arms) and hardware.

A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or
linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for
position feedback.

The motor is paired with some type of encoder to provide position and speed feedback. In the
simplest case, only the position is measured. The measured position of the output is compared to the
command position, the external input to the controller. If the output position differs from that
required, an error signal is generated which then causes the motor to rotate in either direction, as
needed to bring the output shaft to the appropriate position. As the positions approach, the error
signal reduces to zero and the motor stops. In another way Servo motors work on servo mechanism that
uses position feedback to control the speed and final position of the motor. Internally, a servo motor
combines a motor, feedback circuit, controller and other electronic circuit.

It uses encoder or speed sensor to provide speed feedback and position. This feedback signal is
compared with input command position (desired position of the motor corresponding to a load), and
produces the error signal (if there exist a difference between them).

The error signal available at the output of error detector is not enough to drive the motor. So the
error detector followed by a servo amplifier raises the voltage and power level of the error signal
and then turns the shaft of the motor to desired position.

Servo motors have a high speed response due to low inertia and are designed with small diameter
and long rotor length.

14
Position "0" (1.5ms pulse) is middle, "90" (~2ms pulse) is middle, is all the way to the right, "-90"
(~1ms pulse) is all the way to the left.

2. HC SR 04 ULTRASONIC SENSOR:
The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like bats do. It offers
excellent non-contact range detection with high accuracy and stable readings in an easy-to-use
package.

 From 2cm to 400 cm or 1” to 13 feet. Its operation is not affected by sunlight or black material
like sharp rangefinders are (although acoustically soft materials like cloth can be difficult to
detect). It comes complete with ultrasonic transmitter and receiver module.

Features:

 Theoretical Measuring Distance: 2cm to 450cm

 Practical Measuring Distance: 2cm to 80cm

15
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
 Operating Frequency: 40Hz

PIN NUMBER PIN NAME DESCRIPTION

1 VCC The VCC pin powers the sensor , typically with

+5V

2 Trigger Trigger pin is an input pin. This pin has to be

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 time
taken for the US wave to return back to the
sensor.
4 Ground This pin is connected to the Ground of the
system

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

16
 Now, to calculate the distance using the above formulae, we should know the Speed and time.
Since we are using the Ultrasonic wave we know the universal speed of US wave at room
conditions which is 330m/s. The circuitry inbuilt on the module will calculate the time taken for the
US wave to come back and turns on the echo pin high for that same particular amount of time, this
way we can also know the time taken. Now simply calculate the distance using a microcontroller or
microprocessor.

HC-SR04 distance sensor is commonly used with both microcontroller and microprocessor
platforms like Arduino, ARM, PIC, Raspberry Pie etc. The following guide is universally since it
has to be followed irrespective of the type of computational device used.

17
 Power the Sensor using a regulated +5V through the Vcc and Ground pins of the sensor. The
current consumed by the sensor is less than 15mA and hence can be directly powered by the on
board 5V pins (If available). The Trigger and the Echo pins are both I/O pins and hence they can be
connected to I/O pins of the microcontroller. To start the measurement, the trigger pin has to be
made high for 010uS and then turned off. This action will trigger an ultrasonic wave at frequency of
40Hz from the transmitter and the receiver will wait for the wave to return. Once the wave is
returned after it getting reflected by any object the Echo pin goes high for a particular amount of
time which will be equal to the time taken for the wave to return back to the sensor.
The amount of time during which the Echo pin stays high is measured by the MCU/MPU as it gives
the information about the time taken for the wave to return back to the Sensor. Using this
information the distance is measured as explained in the above heading.

3.AT mega 328P:

This is the most commonly used microcontroller in almost all the electronics projects. ATmega-328
is basically an advanced virtual RISC (AVR) microcontroller. It supports the data up to eight (8)
bits. It has 32KB internal built in memory. It has 1KB electrically erasable programmable read only
memory (EEPROM). This property shows if the electric supply provided to the microcontroller is
removed, even then it can store data and can provide results after providing it with the power
supply. Moreover, it has 2KB static random access memory (SRAM). Even this is mostly used in
Arduino. It operates ranging from 3.3V to 5V.

Functions associated with the pins must be known in order to use the device appropriately.

18
ATmega-328 pins are divided into different ports which are given in detail below.

 VCC is a digital voltage supply.

 AVCC is a supply voltage pin for analog to digital converter.

 GND denotes Ground and it has a 0V.

 Port A consists of the pins from PA0 to PA7. These pins serve as analog input to analog to
digital converters. If analog to digital converter is not used, port A acts as an eight (8) bit
bidirectional input/output port.

 Port B consists of the pins from PB0 to PB7. This port is an 8 bit bidirectional port having
an internal pull-up resistor.

 Port C consists of the pins from PC0 to PC7. The output buffers of port C has symmetrical
drive characteristics with source capability as well high sink.

 Port D consists of the pins from PD0 to PD7. It is also an 8 bit input/output port having an
internal pull-up resistor.

All of the AVR ports are shown in the figure given below.

AREF is an analog reference pin for analog to digital converter.

19
AT mega 328 Memory:
AT mega 328 has three types of memories e.g. EEPROM, SRAM etc. Flash Memory has 32KB
capacity. It has an address of 15 bits. It is a Programmable Read Only Memory (ROM). It is
nonvolatile memory. SRAM stands for Static Random Access Memory. It is a volatile memory
i.e. data will be removed after removing the power supply.
At mega registers:
 ATmega-328 has thirty two (32) General Purpose (GP) registers.

 These all of the registers are the part of Static Random Access Memory

 (SRAM).All the registers are given in the figure shown below.

AT mega with Arduino:

 ATmega-328 is the most micro-controller that is used while designing.

 AT mega 328 is the most important part of Arduino.

 The program is uploaded on the AVR micro-controller attached on Arduino.

 AVR attached on Arduino is shown in the figure given below.

20
Applications:
 It can be used in Embedded System projects.

 It can also be used in robotics.

 Quad-copter and even small aero-plane can also be designed through it.

 Power monitoring and management systems can also be prepared using this device.

Advantages if we use this microcontroller are as follows:

 Non programmable data and program memory.

 Low power consumption.

 Fully static operation.

 On chip analog comparator.

 Advance RISC architecture.

 32KB flash memory

 2KB SRAM.

21
4. I2C 1602 SERIAL LCD MODULE:

The I2C 1602 LCD module is a 2 line by 16 character display interfaced to an I2C daughter board.
The I2C interface only requires 2 data connections, +5 VDC and GND to operate.

Specifications:
I2C Address Range -0x20 to 0x27 (Default=0x27, addressable)

Operating Voltage -5 V dc

Backlight -White

Contrast -Adjustable by potentiometer on I2c interface

Size -80 mm x 36mm x 20 mm

Viewable area -66 mm x 16mm

Power: The device is powered by a single 5Vdc connection.

Pin out diagram:

22
A liquid crystal display or LCD draws its definition from its name itself. It is combination of two
states of matter, the solid and the liquid. LCD uses a liquid crystal to produce a visible image.
Liquid crystal displays are super-thin technology display screen that are generally used in laptop
computer screen, TVs, cell phones and portable video games. LCD’s technologies allow displays to
be much thinner when compared to cathode ray tube (CRT) technology. An LCD is either made up
of an active matrix display grid or a passive display grid. Most of the Smartphone’s with LCD
display technology uses active matrix display, but some of the older displays still make use of the
passive display grid designs. Most of the electronic devices mainly depend on liquid crystal display
technology for their display. The liquid has a unique advantage of having low power consumption
than the LED or cathode ray tube.

Liquid crystal display screen works on the principle of blocking light rather than emitting light.
LCD’s requires backlight as they do not emits light by them. We always use devices which are
made up of LCD’s displays which are replacing the use of cathode ray tube. Cathode ray tube
draws more power compared to LCD’s and are also heavier and bigger.

The principle behind the LCD’s is that when an electrical current is applied to the liquid crystal
molecule, the molecule tends to untwist. This causes the angle of light which is passing through the
molecule of the polarized glass and also cause a change in the angle of the top polarizing filter. As a
result a little light is allowed to pass the polarized glass through a particular area of the LCD. Thus
that particular area will become dark compared to other. The LCD works on the principle of
blocking light. While constructing the LCD’s, a reflected mirror is arranged at the back. An
electrode plane is made of indium-tin oxide which is kept on top and a polarized glass with a
polarizing film is also added on the bottom of the device. The complete region of the LCD has to be
enclosed by a common electrode and above it should be the liquid crystal matter.

Next comes to the second piece of glass with an electrode in the form of the rectangle on the bottom
and, on top, another polarizing film. It must be considered that both the pieces are kept at right
angles. When there is no current, the light passes through the front of the LCD it will be reflected
by the mirror and bounced back. As the electrode is connected to a battery the current from it will
cause the liquid crystals between the common-plane electrode and the electrode shaped like a
rectangle to untwist. Thus the light is blocked from passing through. That particular rectangular area
appears blank.

23
Advantages of an LCD’s:
 LCD’s consumes less amount of power compared to CRT and LED
 LCD’s are consist of some microwatts for display in comparison to some mill watts for LED’s
 LCDs are of low cost
 Provides excellent contrast
 LCD’s are thinner and lighter when compared to cathode ray tube and LED

5. TRANSFORMER:
Transformers are the electrical devices consisting of two or more coils of wire used to transfer
electrical energy by means of a changing magnetic field. It works on the principle of faradays’ law
of induction by converting electrical energy from one value to another.

Transformers are capable of increasing or decreasing the voltage and current levels of their supply,
without modifying its frequency, or the amount of electrical power being transferred from one
winding to another via the magnetic circuit.

A single phase voltage transformer basically consists of two electrical coils of wire, one called the
“Primary Winding” and another called the “Secondary Winding”. For this tutorial we will define
the “primary” side of the transformer as the side that usually takes power and the “secondary” as the
side that usually delivers power. In a single-phase voltage transformer the primary is usually the
side with the higher voltage.

Every electrical and electronic device that we use in our day-to-day life will require a power supply.
In general, we use an AC supply of 230V 50Hz, but this power has to be changed into the required
form with required values or voltage range for providing power supply to different types of devices.
There are various types of power electronic converters such as step-down converter, step-up
converter, voltage stabilizer, AC to DC converter, DC to DC converter, DC to AC converter, and so
on. For example, consider the microcontrollers that are used frequently for developing
many embedded systems’ based projects and kits used in real-time applications. These
microcontrollers require a 5V DC supply, so the AC 230V needs to be converted into 5V DC using
the step-down converter in their power supply circuit.

24
6. KDS 16.000:
This is a 16MHz crystal oscillator. A crystal oscillator is an electronic circuit which is used for the
mechanical resonance of the vibrating crystal of piezoelectric material. Quartz crystal is the most
common type of piezoelectric resonator; in oscillator circuits we are using them so it became known
as crystal oscillators.

This quartz crystals exhibit a property as a mechanical pressure is applied across the faces of the
crystal, a voltage which is proportional to mechanical pressure appears across the crystal. That
voltage causes distortion in the crystal. Distorted amount will be proportional to the applied voltage
and also an alternate voltage applied to a crystal it causes to vibrate at its natural frequency.

Generally BJTs and FETs are used in the construction of crystal oscillator circuits. This is
because operational amplifiers can be used in different low frequency oscillator circuits which
are below 100 kHz but operational amplifiers do not have the bandwidth to operate. It will be a
problem at the higher frequencies that are matched to crystals which are above 1 MHz

Usually quartz crystal oscillators are highly stable, consists of good quality factor (Q), they are
small in size and are economically related. Hence, quartz crystal oscillator circuits are more
superior compared to other resonators like LC circuits, tuning forks. Generally in
microprocessors and microcontrollers we are using an 8 MHz crystal oscillator.

7. RESISTORS:
A resistor is an electrical component that limits or regulates the flow of electrical current in an
electronic circuit. Resistors can also be used to provide a specific voltage for an active device
such as transistor.

Resistors are used to reduce current flow, adjust signal levels, to divide voltages, bias active
elements, and terminate transmission lines, among other uses.

25
8. CAPACITORS:
Capacitor is an electronic component that stores electric charge. The capacitor is made up of 2
close conductors (usually plates) that are separated by a dielectric material. The plates
accumulate electric charge when connected to a power source. One plate accumulates positive
charge and the other plate accumulates negative charge.

The capacitance(C) of a capacitor is equal to the electric charge (Q) divided by the voltage (V):

C=Q/V

C is the capacitance in farad (F)

26
 Q is the electric charge in coulombs (C) that is stored on the capacitor

V is the voltage between the capacitors plate in volts (V)

9. REGULATORS:
Voltage regulator, any electrical or electronic device that maintains the voltage of a power source
within acceptable limits. The voltage regulator is needed to keep voltages within the prescribed
range that can be tolerated by the electrical equipment using that voltage. It maintains a constant
voltage level.

Electronic voltage regulators utilize solid state semiconductor devices to smooth out variations in
the flow of current. In most cases, they operate as variable resistances; that is, resistance
decreases when the electrical load is heavy and increases when the load is higher. A liner voltage
regulator works by automatically adjusting the resistance via a feedback loop, accounting for
changes in both load and input, all while keeping the output voltage constant.

27
10. LED:

LEDs are a particular type of diode that converts electrical energy into light. In fact, LED stands for
“Light Emitting Diode.” So, LEDs are the semiconductor diodes, electronic devices that permit
current to flow in only one direction. The diode is formed by bringing two slightly different
materials together to form a PN junction.

28
The working principle of the LED is based on the quantum theory. The quantum theory says that
when the electron comes down from the higher energy level to lower energy level then, the energy
emits from the photon. This emits the light at the junction. The photon energy is equal to the energy
gap between these two energy levels.

When forward biased with current flowing through the junction, light is produced. The diodes use
component semiconductors and can produce a variety of colors, although the original color was red.

11. DIODE:
A semiconductor device that has two terminals which conducts current primarily in one direction. It
has low resistance in one direction and high resistance in the other.
That is the current should always flow from the Anode to cathode. The cathode terminal can be
identified by using a grey bar.
These diodes can come as small signal types for use in radio frequency, or low current applications,
or other low current applications, or other types of high current and high voltage ones that can be
used for power applications.

29
A P-N Junction Diode is formed by doping one side of a piece of silicon with a P-type dopant
(boron) and the other side with a N-type dopant (phosphorus).Ge can be used instead of Silicon.
The P-N junction diode is a two terminal device. This is the basic construction of the P-N junction
diode. It is one of the simplest semiconductor devices as it allows current to flow in only one
direction. The diode does not behave linearly with respect to the applied voltage, and it has an
exponential V-I relationship.

A P-N junction diode is a piece of silicon that has two terminals. One of the terminals is doped with
P-type material and the other with N-type material. The P-N junction is the basic element for
semiconductor diodes. A Semiconductor diode facilitates the flow of electrons completely in one
direction only – which is the main function of semiconductor diode. It can also be used as a
Rectifier.

PN Junction Diode Theory

There are two operating regions: P-type and N-type. And based on the applied voltage, there are
three possible “biasing” conditions for the P-N Junction Diode, which are as follows:

Zero Bias – No external voltage is applied to the PN junction diode.

Forward Bias– The voltage potential is connected positively to the P-type terminal and negatively to
the N-type terminal of the Diode.

Reverse Bias– The voltage potential is connected negatively to the P-type terminal and positively to
the N-type terminal of the Diode

Zero Biased Condition

In this case, no external voltage is applied to the P-N junction diode; and therefore, the electrons
diffuse to the P-side and simultaneously holes diffuse towards the N-side through the junction, and
then combine with each other. Due to this an electric field is generated by these charge carriers.
Electric field opposes further diffusion of charged carriers so that there is no movement in the
middle region. This region is known as depletion width or space charge.

30
Forward Bias

In the forward bias condition, the negative terminal of the battery is connected to the N-type
material and the positive terminal of the battery is connected to the P-Type material. This
connection is also called as giving positive voltage. Electrons from the N-region cross the junction
and enter the P-region. Due to the attractive force that is generated in the P-region the electrons are
attracted and move towards the positive terminal. Simultaneously the holes are attracted towards the
negative terminal of the battery. By the movement of electrons and holes current flows. In this
condition, the width of the depletion region decreases due to the reduction in the number of positive
and negative ions.
Reverse Bias

In the forward bias condition, the negative terminal of the battery is connected to the N-type
material and the positive terminal of the battery is connected to the P-type material. This connection
is also known as giving positive voltage. Hence, the electric field due to both the voltage and
depletion layer is in the same direction. This makes the electric field more stronger than before. Due
to this strong electric field, electrons and holes want more energy to cross the junction so they
cannot diffuse to opposite region. Hence, there is no current flow due to lack of movement of
electrons and holes.

31
Symbol of diode:

1N4007 Equivalent Diodes:

1N4148, 1N4733A, 1N5408, 1N5822, Zener Diodes

Features:
Average forward current is 1A

Non-repetitive Peak current is 30A

Reverse current is 5uA.

Peak repetitive Reverse voltage is 1000V

Power dissipation 3W

Available in DO-41 Package

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

32
Buzzer Pin Configuration

Pin Number Pin Name Description

1 Positive Identified by (+) symbol or longer terminal lead. Can be powered by 6V

DC

2 Negative Identified by short terminal lead. Typically connected to the ground of the
circuit

Buzzer Features and Specifications

Rated Voltage: 6V DC

Operating Voltage: 4-8V DC

Rated current: <30mA

Sound Type: Continuous Beep

Resonant Frequency: ~2300 Hz

Small and neat sealed package

Breadboard and Perf board friendly

A buzzer is a small yet efficient component to add sound features to our project/system. It is very
small and compact 2-pin structure hence can be easily used on breadboard, Perf Board and even on
PCBs which makes this a widely used component in most electronic applications.

33
There are two types are buzzers that are commonly available. The one shown here is a simple
buzzer which when powered will make a Continuous Beeeeeeppp.... sound, the other type is called
a readymade buzzer which will look bulkier than this and will produce a Beep. Beep. Beep. Sound
due to the internal oscillating circuit present inside it. But, the one shown here is most widely used
because it can be customised with help of other circuits to fit easily in our application.
This buzzer can be used by simply powering it using a DC power supply ranging from 4V to 9V. A
simple 9V battery can also be used, but it is recommended to use a regulated +5V or +6V DC
supply. The buzzer is normally associated with a switching circuit to turn ON or turn OFF the
buzzer at required time and require interval.

34
6.0 EXPERIMENTS
Experiments:

Note: We conduct experiments step by step to understand how each component works and then
assemble the circuit together.

Conditions:

This can be worked for the objects that have been in a distance of 400cm and in angle of 180°.

The arduino code for this radar project is as follows. This

is the code that has developed and was dumped into the
microcontroller using the arduino platform. Based on this the
working of each device connected to the controller takes
palce.
#include<Wire.h>
#include<LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);
#include<Servo.h>
Servo myservo;
#define trigPin 3
#define echoPin 2
#define servoMotor 11
#define GLED 3
#define RLED 13
#define Buzzer 12
int pos = 0;
float distanceCm, DistanceSec, duration;
void setup()
{
myservo.attach(servoMotor);
lcd.init();
lcd.backlight();
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(Buzzer, OUTPUT);
pinMode(GLED, OUTPUT);
pinMode(RLED, OUTPUT);
DistanceSec = 19;
}
void loop()
{
for (pos = 0; pos <= 180; pos += 1)
{
myservo.write(pos);
distanceValue();
if (distanceCm <= DistanceSec)
{
if (distanceCm <= DistanceSec / 2)
{
35
tone(Buzzer, 10); // Send 1KHz sound signal...
digitalWrite(GLED, LOW);
digitalWrite(RLED, HIGH);
delay(700);
noTone(Buzzer); // Stop sound...
lcd.setCursor(0, 0);
lcd.print("Dist : ");
lcd.print(distanceCm);
lcd.print(" cm ");
delay(10);
lcd.setCursor(0, 1);
lcd.print("Angle : ");
lcd.print(pos);
lcd.print(" deg ");
delay(2000);
}
else
{
digitalWrite(Buzzer, HIGH);
digitalWrite(RLED, LOW);
digitalWrite(GLED, HIGH);
delay(100);
digitalWrite(Buzzer, LOW);
lcd.setCursor(0, 0);
lcd.print("Dist : ");
lcd.print(distanceCm);
lcd.print(" cm ");
delay(10);
lcd.setCursor(0, 1);
lcd.print("Angle : ");
lcd.print(pos);
lcd.print(" deg ");
delay(2000);
}
}
else
{
digitalWrite(Buzzer, LOW);
digitalWrite(RLED, LOW);
digitalWrite(RLED, LOW);
}
lcd.setCursor(0, 0);
lcd.print("Dist : ");
lcd.print(distanceCm);
lcd.print(" cm ");
delay(10);
lcd.setCursor(0, 1);
lcd.print("Angle : ");
lcd.print(pos);

36
lcd.print(" deg ");
delay(80);
}
for (pos = 180; pos >= 0; pos -= 1)
{
myservo.write(pos);
distanceValue();
if (distanceCm <= DistanceSec) {
if (distanceCm <= DistanceSec / 2)
{
tone(Buzzer, 10); // Send 1KHz sound signal...
digitalWrite(RLED, HIGH);
digitalWrite(GLED, HIGH);
delay(700);
noTone(Buzzer); // Stop sound...
lcd.setCursor(0, 0);
lcd.print("Dist : ");
lcd.print(distanceCm);
lcd.print(" cm ");
delay(10);
lcd.setCursor(0, 1);
lcd.print("Angle : ");
lcd.print(pos);
lcd.print(" deg ");
delay(2000);
}
else
{
digitalWrite(Buzzer, HIGH);
digitalWrite(RLED, LOW);
digitalWrite(GLED, HIGH);
delay(100);
digitalWrite(Buzzer, LOW);
lcd.setCursor(0, 0);
lcd.print("Dist : ");
lcd.print(distanceCm);
lcd.print(" cm ");
delay(10);
lcd.setCursor(0, 1);
lcd.print("Angle : ");
lcd.print(pos);
lcd.print(" deg ");
delay(2000);
}
}
else
{
digitalWrite(Buzzer, LOW);
digitalWrite(RLED, LOW);

37
digitalWrite(GLED, LOW);
}
lcd.setCursor(0, 0);
lcd.print("Dist : ");
lcd.print(distanceCm);
lcd.print(" cm ");
delay(10);
lcd.setCursor(0, 1);
lcd.print("Angle : ");
lcd.print(pos); -
lcd.print(" deg ");
delay(80);
}
}
void distanceValue()
{
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distanceCm = duration * 0.034 / 2;
}

38
WHEN THERE IS AN OBJECT DETEDCTED:

AFTER DETECTING OF OBJECT BUZZER SOUND AND THE LED

STARTS GLOWING:

39
WHEN THE OBJECT COMES CLOSURE TH RED LED STARTS
BLINKING:

FINALLY THE INFORMATION WILL BE DISPLAYED ON THE LED

SCREEN:

BUZZER

40
7.0 ADVANTAGES
The main advantage that in this project it has high frequency, high sensitivity, therefore, it can
easily detect the external or deep objects. Along with these there were several other advantages like

1. This system is easy to use and is completely safe during the operation to nearby objects, human
or equipment.

2. The ultrasonic sensor can even interface with any type of the sensor.

3. Easy to design and low price. Cheaper availability of components.

4. This system can be used in all types of environment.

5. This can also be useful to understand and study the concept of radar.

6. This helps for the students to understand and can be performed easily in laboratories also.

7. This is the best security system that can be used for home purposes and other for small
applications in forest areas etc.

8. With a greater efficiency and les energy usage this project can be designed and implemented.

42
8.0 APPLICATIONS
This project concept can be utilized in wide range of applications.

1. To detect the objects in remote areas.

2. In crime fighting, military projects, and civil protection GPR-systems are used to hidden
weapons, mines or corps respectively trapped persons.

3. For the security purpose some buildings create a monitoring shield above a sensible area
that needs surveillance.

4. By increasing its range of detection this can be used in large areas.

43
8.0 CONCLUSION
The AURDINO BASED RADAR SYSTEM USING ULTRASONIC SENSOR has experimentally
proven and also proved to work on it satisfactorily. The objects were detected within a range of the
specifications mentioned in the program.

Through this concept I have learned a lot about the specific devices, how the radar works and in
depth I have finally understood even how a single component works in a circuit.

Hence a low cost radar system was designed, implemented and tested.

Moreover in future this project can be easily implemented in such a way that the sensor will rotate
an angle about 360° also by using the servo motor as per the requirements.

44
9.0 REFERRENCES
Here are the website in which I have gone through to understand and implement this project
successfully and are mentioned as follows:

https://randomnerdtutorials.com/complete-guide-for-ultrasonic-sensor-hc-sr04/

https://components101.com/servo-motor-basics-pinout-datasheet

https://electronicsforu.com/electronics-projects/hardware-diy/microcontroller-based-ultrasonic-
radar-atmega128

https://www.electronicshub.org/arduino-radar-project/

45