Finalsem Report

7/27/2019 Finalsem Report

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DESIGN AND DEVELOPMENT OF

MICROCONTROLLER BASED IR

TRACKING/ HEAT SEEKING ROBOT

WITH FIRE ALARM

A Project Report

Submitted by

SHRUTI AWASTHI

(1311562808)AND

SAKSHI

(1401562808)

in partial fu lf il lment for the award of the degree

of

BACHELOR OF TECHNOLOGY

IN

ELECTRONICS & COMMUNICATION

At

NORTHERN INDIA ENGINEERING COLLEGE,

NEW DELHI(YEAR-2012)


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DECLARATION

We hereby declare that the project entitled DESIGN AND DEVELOPMENT OFMICROCONTROLLER BASED IR TRACKING/ HEAT SEEKING ROBOT WITH FIRE

ALARM submitted by us in partial fulfillment of the requirement for the award of

BACHELOR OF TECHNOLOGY Degree in ELECTRONICS & COMMUNICATION,

comprises our original work and due references have been made in text to all other material

used.

Signature of the Students:

Shruti Awasthi(1311562808)

Sakshi(1401562808)

Place:

Date:


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CERTIFICATE

This is to certify that the project entitled DESIGN AND DEVELOPMENT OF

MICROCONTROLLER BASED IR TRACKING/ HEAT SEEKING ROBOT WITH FIRE

ALARM is the bonafide work carried out by student of B. Tech, NORTHERN INDIA

ENGINEERING COLLEGE, NEW DELHI, during the year 2012, in partial fulfillment of the

requirements for the award of the Degree of Bachelor of Technology and that the project has

not formed the basis for the award of any degree earlier.

Signature of the Guide:

Place:

Date:


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ACKNOWLEDGEMENT

We feel highly privileged to express our deep sense of gratitude to all those who helped us

during our project work. We would like to express our grateful thanks for the help and advice

given to us by MS. ANUPRIYA, ECE Dept. for their valuable guidance in our project.

We express our gratitude and reverence to the preceptor and project Guide for his advice,

guidance and support which helped us in completing our project.

We are also highly thankful to the management of NORTHERN INDIA ENGINEERINGCOLLEGE, for providing necessary facilities and infrastructure.


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ABSTRACT

This project is titled design and development of microcontroller based ir tracking/ heat

seeking robot with fire alarm. This autonomous system tracks IR radiation in the vicinityand then moves in that respective direction together with output on Alarm The system

employs 8052 microcontroller as its core and Photodiodes as sensors. The application area of

microcontrollers and microprocessors is a wide area in the industry. One branch of the

microcontrollers application area is control. In this Project we will design a Microcontroller

controlled Robot. This is meant to simulate the real world operation of a Robot performing a

fire tracking function. There are five sections, mainly

1. Sensors,

2. Power supply,

3. Transmitter Micro-controller,

4. DC Motor Driver,

5. Sound generator,

The four sensing section detects the infrared radiation from the heat source in four direction

(Right, Centre, Left and rear), the output of the sensors is fed to the low power dual

operational amplifier used as comparator. A threshold value is set through potentiometer; the

input signal from sensor is compared with this threshold value. The controller section process

the information from the comparator and provide input to the driver section, which has two

DC motor for driving the robot depending on the input sequence obtain the micro controller

performs the sequential operations and gives outputs decision which is a sequence of bits to

drive a DC motor.

Since the micro controller output is not sufficient to drive the DC motor, a transistor and

relay has been used to drive the motors. In the process of reaching the target if an obstacle is

encountered the robot changes its path and again start tracking the incoming IR radiation. An

alarm will run when robot detects fire in any direction.


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TABLE OF CONTENTCHAPTER TITTLE PAGE NO.

Project Tittle 71 Introduction 8

2 Methodology of Design 9

3 Objective & Scope of the Project 11

3.1 Objective 11

3.2 Scope 11

4 Proposed circuit diagram & its description 12

4.1 Circuit diagram 12

4.2 Description 13

5 List of Components 16

6 Hardware design & Development 17

6.1 Comparator LM-358 176.2 Microcontroller 18

6.3 Crystal oscillator 24

6.4 Alarm system 24

6.5 Reset switch 26

6.6 Potentiometer 26

6.7 Voltage regulator 26

6.8 Power transistor 27

6.9 Resistor & Capacitor 29

6.10 Relay 29

6.11 12V DC motor 31

6.12 Photo diode 31

6.13 LED 32

6.14 BC548 33

6.15 Diode 33

7 Software design & development 35

7.1 S/W programming using keil C of microcontroller 35

7.2 S/W for designing circuit on general purpose PCB 42

8 Software code 43

9 Flowcharts of the project 45

9.1 Flowchart for the software code 45

9.2 Flowchart of subroutine delay 46Results & Conclusion 47

Future Prospect 48

Bibliography & References 49


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PROJECT ON

DESIGN AND DEVELOPMENT OF MICROCONTROLLER BASED IR

TRACKING/ HEAT- SEEKING ROBOT WITH FIRE ALARM


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CHAPTER 1

INTRODUCTION

Automatic system like robots carry out specific tasks. These systems are usually employed in

environments where conditions keep changing. The robots described here sense the near

infrared radiation (.8m-1m) and moves toward that direction. This robot is designed

keeping in mind mainly for two applications viz. Heat seeking missile and automatic fire

extinguisher.

There are four sections, mainly sensor, comparator, Micro-controller, and DC Motor Driver.

The sensing section detects the infrared radiation. The controller section process the

information from the sensor and provide input to the driver section, which has DC motor fordriving the robot, the output of the sensors is fed to the comparator, which serves as the input

to the micro controller. Depending on the input sequence obtain the micro controller performs

the sequential operations and gives output decisions which is a sequence of bits to drive a DC

motor.

As a Heat Seeking Missile:

The heat-seeking missile is a special kind of missile that not only reaches the target emitting

heat radiations (Aircraft, Ship or Boat) but also tracks it. As the target moves, it follows the

target and finally hits it. The missile is based on the concept of detecting and following the

heat-radiating source. The robot designed for two-dimensional motions, performs the task of

a heatseeking missile as it tracks heat radiating object.

As a Fire Extinguisher:

The robot can be used as a highly sophisticated fire extinguisher. The fire extinguisher, when

it detects fire, will move toward fire, deviating away from any obstacle, and extinguish the

fire.


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CHAPTER 2

Methodology of Design

Block Diagram


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There are five sections, mainly

1. Sensors,

2. Power supply,

3. Transmitter Micro-controller,

4. DC Motor Driver,

5. Sound generator,

The four sensing section detects the infrared radiation from the heat source in four direction

(Right, Centre, Left and rear), the output of the sensors is fed to the low power dual

operational amplifier used as comparator. A threshold value is set through potentiometer; the

input signal from sensor is compared with this threshold value. The controller section process

the information from the comparator and provide input to the driver section, which has two

DC motor for driving the robot depending on the input sequence obtain the micro controller

performs the sequential operations and gives outputs decision which is a sequence of bits to

drive a DC motor.

Since the micro controller output is not sufficient to drive the DC motor, a transistor and

relay has been used to drive the motors. In the process of reaching the target if an obstacle is

encountered the robot changes its path and again start tracking the incoming IR radiation. An

alarm will run when robot detects fire in any direction.


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CHAPTER 3

OBJECTIVE AND SCOPE OF THE PROJECT

3.1. OBJECTIVE:

The basic objective behind the development of this project arises due to the fact that with the

increasing application of Artificial Intelligence systems in our day to day life thereby making

it automated and in order to accord with such systems and environment, the existing system

needs to be replaced by other such intelligent systems such as a Robot. So, to tackle with the

problems related to Fire detection our project plays a very efficient role as it can be employed

in all major remote areas ex. high speed Line Tunnels so as to protect it from fire threats.

Another significant role played by this project is in the industrial field such as oil refineries,

chemical industries and coal mines, etc.

Its other objectives include usage in the remote buildings, areas requiring minimum

manhandling, and residential apartments and also in the war field.

3.2. SCOPE:

In the real world scenario, this wired system can be developed into a Wireless fire detection

and suppression system so as to overcome the problem of fire in machines. Such a system

would require wireless techniques to send and receive signals from various units and to start

with the extinguishing system.

Our current system only performs the function of fire detection but its application can be

increased to fire suppression by addition of an extinguishing system. Another possible scope

for the project is in the war field where it can be employed as the Heat Seeking Missile.


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CHAPTER 4

PROPOSED CIRCUIT DIAGRAM AND ITS

DESCRIPTION

4.1. PROPOSED CIRCUIT DIAGRAM:

Fig.4.1 the complete Circuit diagram of the system


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4.2. DESCRIPTION OF PROPOSED CIRCUIT:

There are IR sensors located outside the body of the robot namely left side,

right side, rear side and at the center. These sensors will detect IR

radiations from the fire source (like a candle).This input analog signal is

feed to the op-amp in form of digital signal. The sensor can detect fire in

any possible direction. If robot detects fire source in its right; the right

sensor will detect the infrared rays from the source. It will give signal to

the microcontroller through op-amp. Meanwhile the other sensors will not

provide any signal.

The sensing circuit of ROBOT is as below:

Fig.4.2 sensing circuit diagram

The comparator (LM358) compares the input digital signal with the

threshold value set by the potentiometer. It will allow signals higher than

threshold level to provide digital input to the microcontroller.

The output of the microcontroller is feed to the motor driver circuit. The

output of the four respective motor driver circuits is then provided to the

motor.

Each motor driver circuit consists of a transistor (TIP122) and a relay.

When there is a special bit sequence at the input of the microcontroller, it

starts working in its active low condition. In this case the relay switches tonormally closed condition which is connected to the +12V supply. In this


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transistor acts like a switch .In active low condition collector is grounded

i.e. providing ground to relay (normally closed). A diode is placed to

prevent back EMF due to relay.

A relay based D.C motor driver circuit is introduced as as follows:

Fig. 4.3 D.C motor driving circuit

The output of microcontroller is fed to the transistor TIP122. For motor one output is taken

from pin 0 & pin 1(P1.0, P1.1).For motor two it is from PIN 2 & 3(P1.2&P1.3).

The table shown below gives the values of pin 0, pin 1, pin 2, pin 3 for two dimensional

motion of DC motor:

P1.0 P1.1 RLY

O/P1

RLY

O/P2

DC

MOTOR1

P1.2 P1.3 RLY

O/P3

RLY

O/P4

DC

MOTOR2

0 0 0V 0V STOP 0 0 0V 0V STOP

0 1 0V 12V RUN CW 0 1 0V 12V RUN CW

1 0 12V 0V RUN

CCW

1 0 12V 0V RUN

CCW

1 1 12V 12V STOP 1 1 12V 12V STOP

Table 4.1 the output values of microcontroller that fed to the transistor TIP122


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From the above truth table it is clear that both the motor can run either in clock wise or in

counter clock wise direction as per requirement. We are already given a +12V supply at the

normally open point of relay and Ground at normally close point of relay. When input of

TIP122 i.e. ports 1.0 gets high transistor conduct and a ground goes to the coil of relay makes

it energized. It results a +12v supply at common point of relay. There are two similar relay

for one DC motor to rotate in both direction. A reverse diode is used across the coil of relay

to avoid back EMF of relay. A freewheeling diode is applied here to avoid back EMF of DC

motor.

So a two dimensional motion can be achieved from robot by using two DC motor.

A table for direction of Robot is as follows:

Motor Left Motor Right Direction of Robot

Clock wise Clock wise Forward motion

Clock wise Stop Turn right

Stop Clock wise Turn left

Counter clock wise Counter clock wise Reverse motion

Table 4.2 directions of Robot


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CHAPTER 5

LIST OF COMPONENTS

SensorPhotodiode

OP-AMP(LM358)

Crystal oscillator (11.0592MHz)

Resistances

Capacitances

Potentiometer

Voltage regulator (7805)

Power transistor (TIP 122)

IC with bases (LM7805, AT89S52, UM3561, LM358)

LEDs

DIODE

Speaker

Switches (push to on)

Relay

Transistors (BC 548)

12v Battery

12V DC Motor

General purpose PCB

Connecting wires

Soldering kit


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CHAPTER 6

HARDWARE DESIGN AND DEVELOPMENT

The hardware comprises of various components used in making the entire project. These

include different ICs, passive components, transistors, etc. A detail of all the components

used are given below:

6.1. COMPARATOR LM-358

Pin description of comparator LM-358 is given below:

Fig.6.1.1. pin details of comparator LM-358

Features:

Available in 8-Bump micro SMD chip sized package

Internally frequency compensated for unity gain

Large dc voltage gain: 100 dB

Wide bandwidth (unity gain): 1 MHz (temperature compensated)

Wide power supply range:

Single supply: 3V to 32V or dual supplies: 1.5V to 16V

Very low supply current drain (500 A)-essentially independent of supply voltage

Low input offset voltage: 2 mV

Input common-mode voltage range includes ground

Differential input voltage range equal to the power supply voltage

Large output voltage swing


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Description:

The LM358 series consists of two independent, high gain, internally frequency compensated

operational amplifiers which were designed specifically to operate from a single power

supply over a wide range of voltages. Operation from split power supplies is also possible

and the low power supply current drain is independent of the magnitude of the power supply

voltage.

Application areas include transducer amplifiers, dc gain blocks and all the conventional op

amp circuits which now can be more easily implemented in single power supply systems. For

example, the LM158 series can be directly operated off of the standard +5V power supply

voltage which is used in digital systems and will easily provide the required interface

electronics without requiring the additional 15V power supplies.

6.2. MICROCONTROLLER

AT89S52

Fig.6.2.1. photo of microcontroller AT89S52

Features:

Compatible with MCS-51 Products

8K Bytes of In-System Programmable (ISP) Flash Memory

Endurance: 1000 Write/Erase Cycles

4.0V to 5.5V Operating Range

Fully Static Operation: 0 Hz to 33 MHz

Three-level Program Memory Lock

256 x 8-bit Internal RAM

32 Programmable I/O Lines


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Three 16-bit Timer/Counters

Eight Interrupt Sources

Full Duplex UART Serial Channel

Low-power Idle and Power-down Modes Interrupt Recovery from Power-down Mode

Watchdog Timer

Dual Data Pointer

Power-off Flag

Fast Programming Time

Flexible ISP Programming (Byte and Page Mode)

Description:

The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K bytes

of in-system programmable Flash memory. The device is manufactured using Atmels high-

density nonvolatile memory technology and is compatible with the industry-standard 80C51

instruction set and pin out. The on-chip Flash allows the program memory to be

reprogrammed in-system or by a conventional nonvolatile memory programmer. By

combining a versatile 8-bit CPU with in-system programmable Flash on a monolithic chip,the Atmel AT89S52 is a powerful microcontroller which provides a highly-flexible and cost-

effective solution to many embedded control applications.

The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of

RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-

vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and clock

circuitry. In addition, the AT89S52 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 interrupt or hardware reset.


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PIN DIAGRAM OF AT89S52

Fig.6.2.2. pin diagram of AT89S52

Pin Configuration:

Pin 1 to pin 8 = Port 1.0 to Port 1.7

Pin 9 = RST


Pin 18 and 19 = XTAL2 and XTAL1

Pin 20 = GND


Pin 29, 30 and 31 = PSEN, ALE / PROG and EA / VPP


Pin 40 = VCC


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Pin Description:

VCC = Supply voltage.

GND = Ground. Port 0 = Port 0 is an 8-bit open drain bidirectional 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 can 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 bidirectional 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 being pulled low will source current (IIL) because of the

internal pull-ups.

In addition, P1.0 and P1.1 can be configured to be the timer/counter 2 external count

input (P1.0/T2) and the timer/counter 2 trigger input (P1.1/T2EX), respectively, as

shown in the following table.

Port 1 also receives the low-order address bytes during Flash programming and

verification.

Table 6.2.1 port1 description table

Port Alternate FunctionsP1.0 T2 (external count input to Timer/Counter 2), clock-

P1.1 T2EX (Timer/Counter 2 capture/reload trigger and

P1.5 MOSI (used for In-System Programming)

P1.6 MISO (used for In-System Programming)

P1.7 SCK (used for In-System Programming)


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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, Port 2 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.





pull-ups.

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

Port 3 also serves the functions of various special features of the AT89S52, as shown

in the following table.

Table 6.2.2 port3 description table

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)


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

running resets the device. This pin drives high for 98 oscillator periods after the

Watchdog times out. The DISRTO bit in SFR AUXR (address 8EH) can be used to

disable this feature.

ALE/PROG = Address Latch Enable (ALE) is an 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 = Program Store Enable (PSEN) is the read strobe to external program

memory.

When the AT89S52 is executing code from external program memory, PSEN is

activated twice each machine cycle, except that two PSEN activations are skipped

during each access to external data memory.

EA / VPP = External Access Enable. EA must be strapped to GND in order to enable

the device to fetch code from external program memory locations starting at 0000H

up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be internally

latched on reset.

EA should be strapped to VCC for internal program executions.

This pin also receives the 12-volt programming enable voltage (VPP) during Flash

programming.

XTAL1 = Input to the inverting oscillator amplifier and input to the internal clock

operating circuit.


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XTAL2 = Output from the inverting oscillator amplifier.

6.3. CRYSTAL OSCILLATOR

Fig.6.3.1. photo of crystal oscillator

A crystal oscillator is an electronic oscillatorcircuit that uses the mechanical resonance of a

vibrating crystal ofpiezoelectric material to create an electrical signal with a very precise

frequency. This frequency is commonly used to keep track of time (as in quartz

wristwatches), to provide a stable clock signal fordigital integrated circuits, and to stabilize

frequencies for radio transmitters and receivers. The most common type of piezoelectric

resonator used is the quartz crystal, so oscillator circuits designed around them became

known as "crystal oscillators.

We have used crystal oscillator of 11.0592 MHz in our project.

6.4 ALARM CIRCUIT

UM3561:

It is an excellent ROM IC that can generate Multi siren tones simulating Police siren,

Ambulance siren, Fire brigade siren and Machine gun sound. This 8 pin low power IC can

work down to 2.4 volts.

The UM 3561 is a low cost siren generator designed for use in toy applications. The IC has

an inbuilt oscillator and tone selection pins. It is easy to make a siren generator with only a

few external components. Only one external resistor and a speaker driver transistor are

sufficient to make a simple siren generator.
http://en.wikipedia.org/wiki/Electronic_oscillatorhttp://en.wikipedia.org/wiki/Resonancehttp://en.wikipedia.org/wiki/Crystalhttp://en.wikipedia.org/wiki/Piezoelectricity#Materialshttp://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Quartz_clockhttp://en.wikipedia.org/wiki/Quartz_clockhttp://en.wikipedia.org/wiki/Clock_signalhttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Integrated_circuitshttp://en.wikipedia.org/wiki/Radio_transmitterhttp://en.wikipedia.org/wiki/Radio_receiverhttp://en.wikipedia.org/wiki/Quartz_crystalhttp://en.wikipedia.org/wiki/Quartz_crystalhttp://en.wikipedia.org/wiki/Radio_receiverhttp://en.wikipedia.org/wiki/Radio_transmitterhttp://en.wikipedia.org/wiki/Integrated_circuitshttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Clock_signalhttp://en.wikipedia.org/wiki/Quartz_clockhttp://en.wikipedia.org/wiki/Quartz_clockhttp://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Piezoelectricity#Materialshttp://en.wikipedia.org/wiki/Crystalhttp://en.wikipedia.org/wiki/Resonancehttp://en.wikipedia.org/wiki/Electronic_oscillator


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Fig.6.4.1 pin description of UM3561

Circuit diagram for alarm circuit:

Fig.6.4.2. circuit diagram for various alarm system


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6.5. RESET SWITCH

Push to ON:

In electronics and technology, a reset button is a button that can reset a device. The reset

button clears the memory and reboots the machine forcibly. Reset buttons are found

on circuit breakers to reset the circuit. This button can cause data corruption so this button

often doesn't exist on many machines. Usually, in computers, it is present as a small button,

possibly recessed into the case, to prevent accidentally pressing it.

The RESET button was used at the microcontroller input in order to set all the levels to null

in the process. This was used simultaneously with an LED.

6.6. POTENTIOMETER

A potentiometer (colloquially known as a "POT") is a three-terminal resistor with a sliding

contact that forms an adjustable voltage divider. If only two terminals are used (one side and

the wiper), it acts as a variable resistor or rheostat. Potentiometers are commonly used to

control electrical devices such as volume controls on audio equipment. Potentiometers

operated by a mechanism can be used as position transducers, for example, in a joystick.

Potentiometers are rarely used to directly control significant power (more than a watt).

Instead they are used to adjust the level of analog signals (e.g. volume controls on audio

equipment), and as control inputs for electronic circuits.

POT is used to set a threshold level on the Comparator such that it gives a reference voltage

for the input signal on which the output of the microcontroller can be decided. The reference

voltage was set as 4 V in the project.

POT is also used in our project to vary the brightness of the LCD.

6.7.VOLTAGE REGULATOR

A voltage regulator is an electrical regulator designed to automatically maintain a

constant voltage level.

It may use an electromechanical mechanism, or passive or active electronic components.

Depending on the design, it may be used to regulate one or more AC or DC voltages.


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The 78XX / 79XX voltage regulator is a 3 pin regulator used in the circuit. The following are

the ways to determine the type of regulator:

The first 2 digits 78 / 79 specify it as a positive / negative voltage regulator

respectively.

The XX specifies the amount of voltage after regulation is applied, e.g., 7805

specifies a positive regulator with 5 volts at output end.

The first pin of the regulator is input pin, the second is ground pin and the third is the

output pin.

The head of the regulator is made of metal because it helps in dissipating of neglected voltage

in form of heat energy.

Hence, in the project, positive regulator 7805 is used.

6.8. POWER TRANSISTOR

TIP 122:

Fig.6.8.1. photo of transistor TIP122

A transistor is a semiconductor device used to switch and amplify signals. It is made of a

solid piece of semiconductor material, with at least three terminals for connection to an

external circuit. A voltage or current applied to one pair of the transistor's terminals changes

the current flowing through another pair of terminals. Because the controlled

(output) power can be much more than the controlling (input) power, the transistor

provides amplification of a signal. Today, some transistors are packaged individually, but

many more are found embedded in integrated circuits.


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Transistor packages are made of glass, metal, ceramic, or plastic. The package often dictates

the power rating and frequency characteristics. Power transistors have larger packages that

can be clamped to heat sinks for enhanced cooling. Additionally, most power transistors have

the collector or drain physically connected to the metal can/metal plate.

Specifications:

Collector Emitter voltage = 100 V

Collector Base voltage = 100 V

Emitter Base voltage = 5 V

Base Current = 120 mA

Darlington 5 Ampere Complementary Silicon Power Transistors:

Fig.6.8.2. darlington 5amp complementary silicon power transistor

6080100 VOLTS 65 WATTS designed for generalpurpose amplifier and lowspeed

switching applications.

High DC Current Gain

hFE = 2500

4.0 Adc

CollectorEmitter Sustaining Voltage@ 100 mAdc

VCEO(sus) = 60 Vdc (Min)TIP120, TIP125

80 Vdc (Min)TIP121, TIP126

100 Vdc (Min)TIP122, TIP127

Low CollectorEmitter Saturation Voltage-VCE(sat) = 2.0 Vdc (Max) @ IC = 3.0

Adc

4.0 Vdc (Max) @ IC = 5.0 Adc

Monolithic Construction with BuiltIn BaseEmitter Shunt Resistors TO220AB

Compact Package


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6.9. RESISTORS AND CAPACITORS

A resistor is a two-terminal electronic component that produces a voltage across its terminals

that is proportional to the electric current passing through it in accordance with Ohm's law:

V = IR

Resistors are elements of electrical networks and electronic circuits and are ubiquitous in

most electronic equipment. Practical resistors can be made of various compounds and films,

as well as resistance wire (wire made of a high-resistivity alloy, such as nickel/chrome).

The primary characteristics of a resistor are the resistance, the tolerance, maximum working

voltage and the power rating. Other characteristics include temperature coefficient, noise,

and inductance. Less well-known is critical resistance, the value below which power

dissipation limits the maximum permitted current flow, and above which the limit is applied

voltage. Critical resistance is determined by the design, materials and dimensions of the

resistor.

A capacitor is a passive electronic component consisting of a pair of conductors separated by

a dielectric (insulator). When there is a potential difference (voltage) across the conductors a

static electric field develops in the dielectric that stores energy and produces a mechanical

force between the conductors. An ideal capacitor is characterized by a single constant

value, capacitance, measured in farads. This is the ratio of the electric charge on each

conductor to the potential difference between them.

Capacitors are widely used in electronic circuits for blocking direct current while

allowing alternating current to pass, in filter networks, for smoothing the output of power

supplies, in the resonant circuits that tune radios to particular frequencies and for many other

purposes.

Different values of resistors and capacitors were used in the project in accordance with the

circuit discussed later.

6.10. RELAY

A relay is an electrically operated switch. Many relays use an electromagnet to operate a

switching mechanism mechanically, but other operating principles are also used. Relays are

used where it is necessary to control a circuit by a low-power signal (with complete electrical

isolation between control and controlled circuits), or where several circuits must be

controlled by one signal.
http://en.wikipedia.org/wiki/Electrichttp://en.wikipedia.org/wiki/Switchhttp://en.wikipedia.org/wiki/Electromagnethttp://en.wikipedia.org/wiki/Electromagnethttp://en.wikipedia.org/wiki/Switchhttp://en.wikipedia.org/wiki/Electric


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Fig.6.10.1. photo of relay

Features:

A contactor is a relay that is used for switching power.

They usually handle very heavy loads like an electric motor, lighting and heating

equipments and so on.

Though their output is used for switching very high loads, they are controlled by a circuit

with very less power.

According to the loads they handle, they vary in sizes from a small device to as huge as a

yard.

Though they are used for switching purposes, they do not interrupt a short-circuit current

like a circuit breaker.

They have ratings ranging from a breaking current of a few amperes and 24 DC volts to

thousands of amperes with many kilo volts.

Fig.6.10.2. single pole double throw realy

This is a Single Pole Double Throw relay. Current will flow between the movable contact

and one fixed contact when the coil is DE-energized and between the movable contact and

the alternate fixed contact when the relay coil is energized. The most commonly used relay

in car audio, the Bosch relay, is a SPDT relay.


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6.11. 12V DC MOTOR

200 RPM 12V DC geared motor for robotics application .Very easy to use and available in

standard size. Nut and thread on shaft to easily connect and thread shaft for easily connection

to the wheel.

Features:

3 ORPM 12V DC Motor with gearbox

66mm shaft diameter with internal hole

125gm weight

Small size motor

2kgcm torque

No load current = 60(mA),Load current = 300(mA)

6.12. PHOTODIODE:

A photodiode is a type of photo detector capable of converting light into either current or

voltage, depending upon the mode of operation. The common, traditional solar cell used to

generate electric solar poweris a large area photodiode.

Photodiodes are similar to regular semiconductor diodes except that they may be either

exposed (to detect vacuum UV or X-rays) or packaged with a window or optical fiber

connection to allow light to reach the sensitive part of the device. Many diodes designed for

use specifically as a photodiode use a PIN junction rather than a p-n junction, to increase the

speed of response. A photodiode is designed to operate in reverse bias.

6.12.1.Principle of operation

A photodiode is a p-n junction orPIN structure. When a photon of sufficient energy strikes

the diode, it excites an electron, thereby creating a free electron (and a positively charged

electron hole). This mechanism is also known as the inner photoelectric effect. If the

absorption occurs in the junction's depletion region, or one diffusion length away from it,

these carriers are swept from the junction by the built-in field of the depletion region. Thus

holes move toward the anode, and electrons toward the cathode, and a photocurrent is

produced. This photocurrent is the sum of both the dark current (without light) and the lightcurrent, so the dark current must be minimized to enhance the sensitivity of the device.
http://en.wikipedia.org/wiki/Photodetectorhttp://en.wikipedia.org/wiki/Lighthttp://en.wikipedia.org/wiki/Electric_currenthttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Solar_cellhttp://en.wikipedia.org/wiki/Solar_powerhttp://en.wikipedia.org/wiki/Semiconductorhttp://en.wikipedia.org/wiki/Diodehttp://en.wikipedia.org/wiki/Vacuum_UVhttp://en.wikipedia.org/wiki/X-rayshttp://en.wikipedia.org/wiki/Optical_fiberhttp://en.wikipedia.org/wiki/PIN_diodehttp://en.wikipedia.org/wiki/P-n_junctionhttp://en.wikipedia.org/wiki/Reverse_biashttp://en.wikipedia.org/wiki/P-n_junctionhttp://en.wikipedia.org/wiki/PIN_diodehttp://en.wikipedia.org/wiki/Photonhttp://en.wikipedia.org/wiki/Free_electronhttp://en.wikipedia.org/wiki/Photoelectric_effecthttp://en.wikipedia.org/wiki/Depletion_regionhttp://en.wikipedia.org/wiki/Anodehttp://en.wikipedia.org/wiki/Cathodehttp://en.wikipedia.org/wiki/Photocurrenthttp://en.wikipedia.org/wiki/Photocurrenthttp://en.wikipedia.org/wiki/Cathodehttp://en.wikipedia.org/wiki/Anodehttp://en.wikipedia.org/wiki/Depletion_regionhttp://en.wikipedia.org/wiki/Photoelectric_effecthttp://en.wikipedia.org/wiki/Free_electronhttp://en.wikipedia.org/wiki/Photonhttp://en.wikipedia.org/wiki/PIN_diodehttp://en.wikipedia.org/wiki/P-n_junctionhttp://en.wikipedia.org/wiki/Reverse_biashttp://en.wikipedia.org/wiki/P-n_junctionhttp://en.wikipedia.org/wiki/PIN_diodehttp://en.wikipedia.org/wiki/Optical_fiberhttp://en.wikipedia.org/wiki/X-rayshttp://en.wikipedia.org/wiki/Vacuum_UVhttp://en.wikipedia.org/wiki/Diodehttp://en.wikipedia.org/wiki/Semiconductorhttp://en.wikipedia.org/wiki/Solar_powerhttp://en.wikipedia.org/wiki/Solar_cellhttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Electric_currenthttp://en.wikipedia.org/wiki/Lighthttp://en.wikipedia.org/wiki/Photodetector


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6.13. LIGHT EMITTING DIODE (LED):

A light-emitting diode (LED) is a semiconductor light source. LEDs are used as indicator

lamps in many devices and are increasingly used for otherlighting. Introduced as a practical

electronic component in 1962, early LEDs emitted low-intensity red light, but modern

versions are available across the visible, ultraviolet, and infrared wavelengths, with very high

brightness.

When a light-emitting diode is forward-biased (switched on), electrons are able to recombine

with electron holes within the device, releasing energy in the form of photons. This effect is

called electroluminescence and the color of the light (corresponding to the energy of the

photon) is determined by the energy gap of the semiconductor. LEDs are often small in area(less than 1 mm2), and integrated optical components may be used to shape its radiation

pattern. LEDs present many advantages over incandescent light sources including lower

energy consumption, longerlifetime, improved robustness, smaller size, and faster switching.

LEDs powerful enough for room lighting are relatively expensive and require more precise

current and heat management than compact fluorescent lamp sources of comparable output.

Fig.6.13.1. symbol of LED

Fig.6.13.2. Schematic diagram of working of an LED
http://en.wikipedia.org/wiki/Semiconductorhttp://en.wikipedia.org/wiki/Lightinghttp://en.wikipedia.org/wiki/Visible_spectrumhttp://en.wikipedia.org/wiki/Ultraviolethttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Semiconductor_diodehttp://en.wikipedia.org/wiki/Voltage_biashttp://en.wikipedia.org/wiki/Electronshttp://en.wikipedia.org/wiki/Carrier_generation_and_recombinationhttp://en.wikipedia.org/wiki/Electron_holehttp://en.wikipedia.org/wiki/Photonhttp://en.wikipedia.org/wiki/Electroluminescencehttp://en.wikipedia.org/wiki/Colorhttp://en.wikipedia.org/wiki/Energy_gaphttp://en.wikipedia.org/wiki/LED#Advantageshttp://en.wikipedia.org/wiki/Energy_conservationhttp://en.wikipedia.org/wiki/Energy_conservationhttp://en.wikipedia.org/wiki/Service_lifehttp://en.wikipedia.org/wiki/Thermal_management_of_high-power_LEDshttp://en.wikipedia.org/wiki/Fluorescent_lamphttp://en.wikipedia.org/wiki/Fluorescent_lamphttp://en.wikipedia.org/wiki/Thermal_management_of_high-power_LEDshttp://en.wikipedia.org/wiki/Service_lifehttp://en.wikipedia.org/wiki/Energy_conservationhttp://en.wikipedia.org/wiki/Energy_conservationhttp://en.wikipedia.org/wiki/LED#Advantageshttp://en.wikipedia.org/wiki/Energy_gaphttp://en.wikipedia.org/wiki/Colorhttp://en.wikipedia.org/wiki/Electroluminescencehttp://en.wikipedia.org/wiki/Photonhttp://en.wikipedia.org/wiki/Electron_holehttp://en.wikipedia.org/wiki/Carrier_generation_and_recombinationhttp://en.wikipedia.org/wiki/Electronshttp://en.wikipedia.org/wiki/Voltage_biashttp://en.wikipedia.org/wiki/Semiconductor_diodehttp://en.wikipedia.org/wiki/Infraredhttp://en.wikipedia.org/wiki/Ultraviolethttp://en.wikipedia.org/wiki/Visible_spectrumhttp://en.wikipedia.org/wiki/Lightinghttp://en.wikipedia.org/wiki/Semiconductor


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6.14. BC548:

The BC548 is a general purpose epitaxial silicon NPN transistor. The part number is assigned

by Pro Electron, which allows many manufacturers to offer electrically and physically

interchangeable parts under ones identification. It is used in our alarm circuit. If the plastic

TO-92package is held in front of one's face with the flat side facing toward you and the leads

downward, the order of the leads, from left to right is collector, base, emitter.

Fig.6.14.1. photo of BC548

6.15. DIODE:

A diode is a two-terminal electronic component that conducts electric current in only one

direction. A semiconductor diode is a crystalline piece of semiconductormaterial connected

to two electrical terminals. A vacuum tube diode is a vacuum tube with two electrodes: a

plate and a cathode.

The most common function of a diode is to allow an electric current to pass in one direction

while blocking current in the opposite direction. Thus, the diode can be thought of as an

electronic version of a check valve. This unidirectional behavior is called rectification, and is

used to convert alternating current to direct current and to extract modulation from radio

signals in radio receivers.

When p-type and n-type materials are placed in contact with each other, the junction is

depleted of charge carriers and behaves very differently than either type of material. The

electrons in n-type material diffuse across the junction and combine with holes in p-type

material. The region of the p-type material near the junction takes on a net negative charge

because of the electrons attracted. Since electrons departed the N-type region, it takes on a

localized positive charge. The thin layer of the crystal lattice between these charges has been
http://en.wikipedia.org/wiki/Epitaxyhttp://en.wikipedia.org/wiki/NPN_transistorhttp://en.wikipedia.org/wiki/Pro_Electronhttp://en.wikipedia.org/wiki/TO-92http://en.wikipedia.org/wiki/Electronic_componenthttp://en.wikipedia.org/wiki/Electric_currenthttp://en.wikipedia.org/wiki/Semiconductorhttp://en.wikipedia.org/wiki/Vacuum_tubehttp://en.wikipedia.org/wiki/Electrodehttp://en.wikipedia.org/wiki/Plate_electrodehttp://en.wikipedia.org/wiki/Cathodehttp://en.wikipedia.org/wiki/Check_valvehttp://en.wikipedia.org/wiki/Rectification_%28electricity%29http://en.wikipedia.org/wiki/Alternating_currenthttp://en.wikipedia.org/wiki/Direct_currenthttp://en.wikipedia.org/wiki/Modulationhttp://hyperphysics.phy-astr.gsu.edu/hbase/solids/dope.html#c4http://hyperphysics.phy-astr.gsu.edu/hbase/solids/dope.html#c3http://en.wikipedia.org/wiki/Depletion_regionhttp://en.wikipedia.org/wiki/Depletion_regionhttp://hyperphysics.phy-astr.gsu.edu/hbase/solids/dope.html#c3http://hyperphysics.phy-astr.gsu.edu/hbase/solids/dope.html#c4http://en.wikipedia.org/wiki/Modulationhttp://en.wikipedia.org/wiki/Direct_currenthttp://en.wikipedia.org/wiki/Alternating_currenthttp://en.wikipedia.org/wiki/Rectification_%28electricity%29http://en.wikipedia.org/wiki/Check_valvehttp://en.wikipedia.org/wiki/Cathodehttp://en.wikipedia.org/wiki/Plate_electrodehttp://en.wikipedia.org/wiki/Electrodehttp://en.wikipedia.org/wiki/Vacuum_tubehttp://en.wikipedia.org/wiki/Semiconductorhttp://en.wikipedia.org/wiki/Electric_currenthttp://en.wikipedia.org/wiki/Electronic_componenthttp://en.wikipedia.org/wiki/TO-92http://en.wikipedia.org/wiki/Pro_Electronhttp://en.wikipedia.org/wiki/NPN_transistorhttp://en.wikipedia.org/wiki/Epitaxy


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depleted of majority carriers, thus, is known as the depletion region. It becomes

nonconductive intrinsic semiconductor material. This separation of charges at the p-n

junction constitutes a potential barrier, which must be overcome by an external voltage

source to make the junction conduct.

The electric field created by the space charge region opposes the diffusion process for both

electrons and holes. There are two concurrent phenomena: the diffusion process that tends to

generate more space charge and the electric field generated by the space charge that tends to

counteract the diffusion.

6.15.1. P-N junction in thermal equilibrium with zero bias voltage applied

6.15.2. Forward and reverse bias characteristics of a diode andits circuit symbol
http://en.wikipedia.org/wiki/Electric_fieldhttp://en.wikipedia.org/wiki/Electric_field


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CHAPTER 7

SOFTWARE DESIGN AND DEVELOPMENT

KEILC Converts code from C to Hex. Code (Assembly Language)

IDE For programming

SPIPGM Burning

This project requires some prerequisites which one must possess so as to work on this project

and achieve the given output within a given amount of time.

7.1. SOFTWARE PROGRAMMING USING KEIL C OF MICROCONTROLLER

The software for Fire Alarm system using Microcontroller has been written in the C language

and it is converted to assembly language using cross complier Keil UV Vision.

Keil was founded in 1986 to market add-on products for the development tools provided by

many of the silicon vendors. Keil implemented the first C compiler designed from the

ground-up specifically for the 8051 microcontroller.

Keil C51 Cross Compiler:

The 8051 Family is one of the fastest growing Microcontroller Architectures.

More than 500 device variants available.

Keil provides several development tools for these 8051 variants.

C51 Compiler

A51 Macro Assembler

BL51 Linker/Locater

Software Development Cycle in Keil:

Create a project, select the target chip from the device database, and configure the tool

settings.

Create source files in C.

Build your application with the project manager.


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Correct errors in source files.

Test the linked application

Create a Project File: To create a new project file select from the Vision menu Project New Project.

This opens a standard Windows dialog that asks you for the new project file name.

We suggest that you use a separate folder for each project.

Select a Device

When you create a new project Vision asks you to select a CPU for your project. The Select

Device dialog box shows the Vision device database. Just select the microcontroller you

use.

Create New Source Files:


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You may create a new source file with the menu option File New. This opens an empty

editor window where you can enter your source code. Vision enables the C color syntax

highlighting when you save your file with the dialog FileSave As under a filename with

the extension *.C.


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Add Source File to the Project:

Once you have created your source file you can add this file to your project.

For example, you can select the file group in the Project Workspace Files page and

click with the right mouse key to open a local menu. The option Add Files opens thestandard files dialog. Select the file MAIN.C you have just created.

Set Tool Options for Target:

Vision lets you set options for your target hardware. The dialog Options for Target opens

via the toolbar icon or via the Project - Options for Target menu item. In the Target tab


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you specify all relevant parameters of your target hardware and the on-chip components of

the device you have selected.

Build Project and Create a HEX File

You may translate all source files and line the application with a click on the Build

Target toolbar icon. When you build an application with syntax errors, Vision will

display errors and warning messages in the Output WindowBuild page.

A double click on a message line opens the source file on the correct location in a

Vision editor window


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Build Project and Create a HEX File:

Once you have successfully generated your application you can start debugging using

the Vision Debugger.

After you have tested your application, it might be required to create an Intel HEX file

and to download the application software into the physical device using a Flash

programming utility.

Vision creates HEX files with each build process when Create HEX file under

Options for TargetOutput is enabled.

Output Files

The Cx51 Compiler generates a number of output files during compilation.

By default, each output file shares the same filename as the source file, each has a

different file extension.


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Files with this extension are assembly source filesgenerated from your C source code. These filescan be assembled with the A51 Assembler.

.SRC

Image of the machine code generated, to be burnt

onto the target device..Hex

Files with this extension contain the source text

as expanded by the preprocessor. All macros areexpanded and all comments are deleted inthislisting.

.I

Files with this extension are object modules thatcontain relocatable object code. Object modulesmay be linked to an absolute object module by theLx51 Linker/Locator.

.OBJ

Files with this extension are listing files thatcontain the formatted source text along with anyerrors detected by the compiler. Listing files mayoptionally contain the symbolsused and theassembly code generated.

.LST


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Language Extensions

The Cx51 Compiler provides several extensions to ANSI Standard C to support the following

elements of the 8051 architecture.

Memory Areas

Memory Types

Memory Models

Data Types

Bit Variables and Bit-Addressable Data

Special Function Registers

Pointers

Function Attributes

7.2. SOFTWARE FOR DESIGNING CIRCUIT ON GENERAL PURPOSE PCB

EXPRESS PCB:

There are two parts to Express PCB, the CAD software and the board manufacturing service.

The CAD software includes Express SCH for drawing schematics and Express PCB for

designing circuit boards. After completing the PC board design, it provides a low cost, high

quality and fast source for having our boards made. Here is how it works:

1. Draw a schematic using ExpressSCH. Drawing a schematic is not required, but it

will save us time when designing our board and reduce the possibility of wiring

errors.

2. Next, use the Express PCB program to lay out the PC board. If we link our

schematic to the ExpressPCB program, the program will guide us through the wiring

process by highlighting how the components should be connected


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CHAPTER 8

SOFTWARE CODE

#include

sbit right = P2^1; //sensor connectionsbit centre=P2^3;

sbit left=P2^0;

sbit alarm=P3^0; //alarm is connected

sbit mr1=P1^2; //right motor

sbit mr2=P1^3;

sbit ml1=P1^0; //left motor

sbit ml2=P1^1;

//definition of the delay function

void delay()

{

unsigned int i=30000;

while(i--);

}

//definition of main function

void main()

{

right=1;

left=1;

centre=1; //configure as input pin

ml1=1;

ml2=1;

mr1=1;

mr2=1; //stop all the motors

alarm=0; //OFF the alarm

while(1)

{

if(left)

{

alarm=1; //ON the alarm

mr1=1;

mr2=0;

ml1=1;

ml2=1; //forward the right motor

delay();}


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ifelse(right)

{


mr1=1;

mr2=1;

ml1=1;ml2=0; //forward the left motor

delay();

}

ifelse(centre)

{


mr1=1;

mr2=0;

ml1=1;

ml2=0; //forward the both the motorsdelay();

delay();

}

if(!(left||right||centre))

{

alarm=0; // OFF the alarm

}

}

}


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CHAPTER 9

FLOWCHARTS OF THE PROJECT

9.1.FLOWCHART FOR THE SOFTWARE CODE:


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9.2.FLOWCHART OF SUBROUTINE DELAY:


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RESULT AND CONCLUSION

The Robot has been tested successfully. The designed robot is capable to move in left, right,

rear and forward direction when it got a fire signal or IR radiation from their respective sides.

This robot has proved the tracking of fire and IR radiation. Robot is also capable of

energizing fire alarm and a visual LED lighting indication on getting IR radiation.

A step-by-step approach in designing the simplex fire tracking robot has been followed.

The results obtained from the calculations have shown that the system performance is quite

reliable and accurate.


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FUTURE PROSPECTS

This robot can be modified for its better performance and more technological advancement.

Presently, the robot can detect the fire and track it by following the fire, but it is only a onetime fire extinguishing system where we are having the fire suppression system and if the fire

continues, the robot will go in fireplace but would not stop a particular distance before the

fireplace and start the fire suppression action. This feature can be added in the future and also

send the corresponding signals to the receiver about the direction, name of the location/place,

proceeding of the fire suppression, time taken to suppress the fire, transmission can be done

in both the direction, and the base station can also control the robot, monitor its actions and

define the zones for a number of such zone wise distributed and allocated robots, send the

signals to the particular robot according to the zone on fire. Such a system would be

completely autonomous.

We can also interface the current robot with a PC by using RS232 protocol, MAX232 IC,

DB9 cable connector which will connect our robot with an PC. By this feature we can track

the exact movement of the robot from a far off location. This feature can be used for security

purposes.

We can also interface a GSM module with our current system which will inform the user in

case the robot detects the fire by sending an SMS to the users mobile phone. This feature

will enable quick response from the user.


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BIBLIOGRAPHY & REFERENCES

BOOKS:

1. Operational Amplifiers Linear Integrated Circuits, Ramakant Gayakwad, Prentice Hall

of India, 3rd Edition.

2. Electronic Devices and Circuits, J.B.Gupta, Katsons Books.

3. The 8051 microcontroller and embedded systems, Muhammad Ali Mazidi and Janice

Gillispie Mazidi, Prentice hall of India Pvt. Limited.

4. Electronic DevicesRobert Boylstead, Prentice Hall.

INTERNET SITES:

www.datasheetarchive.com

www.datasheetcatalog.comwww.ieee.orghttp://robokits.co.inwww.alldatasheet.comhttp://www.expresspcb.com/http://www.fairchildsemi.com/www.atmel.com
http://www.datasheetarchive.com/http://www.datasheetarchive.com/http://www.datasheetcatalog.com/http://www.datasheetcatalog.com/http://www.ieee.org/http://www.ieee.org/http://robokits.co.in/http://robokits.co.in/http://www.alldatasheet.com/http://www.alldatasheet.com/http://www.expresspcb.com/http://www.expresspcb.com/http://www.fairchildsemi.com/http://www.fairchildsemi.com/http://www.atmel.com/http://www.atmel.com/http://www.atmel.com/http://www.fairchildsemi.com/http://www.expresspcb.com/http://www.alldatasheet.com/http://robokits.co.in/http://www.ieee.org/http://www.datasheetcatalog.com/http://www.datasheetarchive.com/

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