Submitted By: Akansha Jaiswal Avni Rajpal Harshita Jain

Autonomous mobile robotics - a fascinating research topic : Sense physical properties of the environment through its sensors into an intelligent agent Able to identify features, detect patterns and regularities, Learn from experience Build maps to navigate and Find the simultaneous application of many research disciplines

TECHNOLOGY USED

DTMF
Dial Pulse

DTMF standard was developed by Bell Laboratories.

Dual Tone Multifrequency System (DTMF), is a touch pad dialling tone. DTMF standard is used in touch tone telephones and voice mail systems. Allow users and devices to dial at much higher rate because of the uniformity of numbers. Each digit corresponds to a high frequency and a low frequency Both are transmitted simultaneously Works by sending two sinusoids for each symbol pressed on the telephone keypad. The tones are divided into two groups: Low group: 697 Hz, 770 Hz, 852 Hz, 941 Hz High group: 1209 Hz, 1336 Hz, 1477 Hz,

The contemporary keypad is laid out in a 34 grid. The original DTMF keypad ,however, has an additional column for menu selector keys. Pressing a single key will produce a pitch consisting of two simultaneous pure tone sinusoidal frequencies. The row in which the key appears determines the low frequency, and the column determines the high frequency. For example, pressing the '1' key will result in a sound composed of both a 697 and a 1209 hertz (Hz) tone. The multiple tones are the reason for calling the system multifrequency. These tones are then decoded by the switching center to determine which key was pressed.

Robot, is controlled by a mobile phone that makes call to the mobile phone attached to the robot. In the course of the call, if any button is pressed, control corresponding to the button pressed is heard at the other end of the call. This tone is called dual tone multi frequency (DTMF). Robot receives this DTMF tone with the help of phone stacked in the robot, The received tone is processed by the microcontroller with the help of DTMF decoder . The decoder decodes the DTMF tone in to its equivalent binary digit and this binary number is sent to the microcontroller, The microcontroller is preprogrammed to take a decision for any give input and outputs its decision to motor drivers in order to drive the motors for forward or backward motion or a turn. The construction of receiver and transmitter units are not required.

1. The controller board (Brain)

Built around the popular Atmel AVR microcontroller Atmega 8 4 channels of motor controller Board, capable of driving 2 dc motor On board power regulator IC On board power supply socket LEDs(Light Emitting Diodes) for display Atmega 8 Microcontroller

2) Programmer:
USB Powered Supports almost all AVR series microcontrollers USB cable ISP Connector

3.Motors:
2 dc geared motors with metal gears 1 castor wheel 2 Wheels with rubber grip

4) Sensors:
2 IR sensors

5)Power Supply:
Two 9V Radio Battery

Motors are the output devices that are used to provide motion to the robot.

In our project we are using dc geared motor. When we apply Vs(+ve voltage) to terminal1 and ground to terminal2 the motor rotates in one directions and if we apply ground to terminal1 and Vs to terminal2 it rotates in opposite direction. The function of gears is to increase the torque and reduce the speed.

A DC geared motor usually draws current more than the maximum value per pin of the Microcontrollers. Thus if we connect it directly to the microcontroller ,it will be damaged. So some kind of driver is needed in between. The driver to be used depends on whether we want unidirectional motion or bidirectional motion.

In case of robotic systems you mostly need two voltages 1. +5V for the microcontroller and may be other logic devices 2. Higher voltages generally +12V for motors and some other devices. How to get +5V ? We need to use a voltage regulator as shown below:

Atmega8 Development Board

AVR stands for Advanced Virtual RISC. RISC means reduced instruction set computer. Another is a CISC architecture which stands for complex instruction set computer. In RISC there are small number of simple instructions only that can be executed within a single clock cycle whereas In CISC there are large number of complex instructions that generally take more than one clock cycle. Microcontroller in this family may be 8bit or 16 bit

It is a microcontroller of AVR family with 8 KB of flash memory

The flash memory is used to store the program that provides the intelligence to the system.
512 bytes EEPROM EEPROM is used to store the data values that may need to be changed by the program written by us but we want that to be stored permanently. 1 KB of internal SRAM Internal SRAM is used to store the values of various variables that are not required to be stored permanently.

 Two 8 bit timer/counters One 16 bit timer/counter 6 built in ADCs Internal calibrated crystal oscillator(1,2,4 and 8 MHz) Programmable serial USART etc.

#define F_CPU 8000000UL #include <avr/io.h> int main() { int DTMF; DDRB=0b11111111; DDRC=0b0000000; while(1) {

1) Scientific Remote control vehicles have various scientific uses including hazardous environments, working in the deep ocean , and space exploration. The majority of the probes to the other planets in our solar system have been remote control vehicles, although some of the more recent ones were partially autonomous. The sophistication of these devices has fueled greater debate on the need for manned spaceflight and exploration. 2)Military and Law Enforcement Military usage of remotely controlled military vehicles dates back to the first half of 20th century. Soviet Red Army used remotely controlled Teletanks during 1930s in the Winter War and early stage of World War II.

3) Search and Rescue UAVs will likely play an increased role in search and rescue in the United States. This was demonstrated by the successful use of UAVs during the 2008 hurricanes that struck Louisiana and Texas.

4)Recreation and Hobby Small scale remote control vehicles have long been popular among hobbyists. These remote controlled vehicles span a wide range in terms of price and sophistication. There are many types of radio controlled vehicles. These include on-road cars, offroad trucks, boats, airplanes, and even helicopters. The "robots" now popular in television shows such as Robot Wars, are a recent extension of this hobby (these vehicles do not meet the classical definition of a robot; they are remotely controlled by a human).

Wireless control Surveillance System. Vehicle Navigation with use of 3G technology. Takes in use of the mobile technology which is almost available everywhere. This wireless device has no boundation of range and can be controlled as far as network of cell phone

Cost of project if Cell phone cost included.

Not flexible with all cell phones as only a particular ,cell phone whose earpiece is attached can only be used.

1. IR Sensors: IR sensors can be used to automatically detect & avoid obstacles if the robot goes beyond line of sight. This avoids damage to the vehicle if we are maneuvering it from a distant place. 2. Password Protection: Project can be modified in order to password protect the robot so that it can be operated only if correct password is entered. Either cell phone should be password protected or necessary modification should be made in the assembly language code. This introduces conditioned access & increases security to a great extent.

3. Alarm Phone Dialer: By replacing DTMF Decoder IC CM8870 by a 'DTMF Transceiver IC CM8880, DTMF tones can be generated from the robot. So, a project called 'Alarm Phone Dialer' can be built which will generate necessary alarms for something that is desired to be monitored (usually by triggering a relay). For example, a high water alarm, low temperature alarm, opening of back window, garage door, etc. When the system is activated it will call a number of programmed numbers to let the user know the alarm has been activated. This would be great to get alerts of alarm conditions from home when user is at work. 4. Adding a Camera: If the current project is interfaced with a camera (e.g. a Webcam) robot can be driven beyond line-of-sight & range becomes practically unlimited as GSM networks have a very large range.

1. Wikipedia - The free encyclopedia 2. http://www.8051projects.info/ 3. http://www.instructables.com/ 4. Schenker, L (1960), "Pushbutton Calling with a Two-Group Voice-Frequency Code", The Bell system technical journal 39 (1): 235255, ISSN 0005-8580 5. DTMF Tester , Electronics For You Magazine , Edition (June 2003) 6. http://www.alldatasheet.com/ 7. http://www.datasheet4u.com/35 8. http://www.datasheetcatalog.com/