LIST OF FIGURES

S.NO. Name of Figures Page No.1.1.1 War field spy robot 51.1.2 Pin Diagram of PIC16F877 Microcontroller 72.3.1 Diagram of a Bluetooth Module HC-05 142.4.1 Diagram of Wireless Camera & Receiver 162.5.1 Diagram of Metal Detector 182.6.1 Diagram of Laser Light 192.7.1 Diagram showing attachment of parts1 of gripper 222.7.2 Diagram showing attachment of parts2 of gripper 232.8.1 Diagram of Robot Chassis 242.9.1 Diagram of D.C Motor 252.10.1 L293D Integrated Circuit 262.10.2 Pin Diagram of L239d with I/O Connections 272.10.3 Pin Diagram of L293D 282.11.1 Diagram of Battery 29 2.12.1 Diagram of Wheel 302.13.1 Diagram Showing 7805 IC 31 2.13.2 Diagram Showing Pin of 7805 IC 312.14.1 Diagram of DPDT Switch 322.15.1 Diagram of LM35 Sensor 332.16.1 Diagram of LM324 IC 342.16.2 Pin Description of LM324 IC 342.17.1 Diagram Showing Types of Potentiometer 352.17.2 Symbol of potentiometer 352.18.1 Symbol of Resistance 362.18.2 Actual View of Resistance 362.19.1 Schematic of Diode 372.19.2 Diagram Showing Diode 372.20.1 Different types of capacitor 382.20.2 Diagram of Ceramic Capacitor 382.21.1 Diagram showing LEDs 392.22.1 Diagram of Crystal Oscillator 402.22.1 Quartz crystal resonator and quartz crystal oscillator 40 3.1.1 Process of Etching 413.2.1 Process of Drilling 423.3.1 Process of Soldering 433.4.1 PCB of War Field Spy Robot 444.2.1 Circuit Diagram of robot 47

CHAPTER-1INTRODUCTION1.1 Statement of Problem-This project is introducing the robot which is used to minimize human casualties in terrorist attack such as 26/11. The combat robot has been designed to tackle such a cruel terror attacks. This robot is Bluetooth operated; self- powered, and has all the controls like a normal car. A wireless camera has been installed on it, so that it can monitor enemy remotely when required. This robot can silently enter into enemy area and send us all the information through its tiny Camera eyes. A shooting gun mechanism has been mounted on the top of the robot for shooting the enemies. Gripper is used to pick up the bomb and placed it in safe place for the disposal through shooting gun. A temperature module is used to detect the temperature, whether it is increasing or not. A metal detector is used to detect whether the bomb is implanted in the ground on detecting metal it will glow up the LED which should be seen by the camera in the control room. All this controlling of the robot is done by android application. This spy robot can be used in star hotels, shopping malls, jewelry show rooms, etc. where there can be threat from intruders or terrorists. As we all know, these days India is sick off massive terror attacks, bomb explosions at plush resorts. Since human life is always precious, these robots are the replacement of fighters against terrorist in war areas. To avoid such disasters Technological power must exceed Human power. Human life and time are priceless. We have taken an initiative to design a model of an apt robot that meets combatant needs. So to avoid terror attacks, to ensure more security at the border and high density areas its wise to maintain a world class military technology in accordance with combatant needs.

Fig 1.1.1 War field spy robot

1.2 ORGANIZATION OF REPORTWe have started our report with certificate, acknowledgement and abstract thereby numbered as i, ii and iii. The abstract represents a 1-page summary of our project highlighting its salient features. We have made sure that every item in the report has a page number to it. All the content of the file should be in correct format and should be properly arranged.Chapter 1 is introduction. It states the primary requirement of our circuit and how we achieved it. The overview of the project has been elaborated by giving an idea of the project work. It comprises all the aspect of the project regarding why we are making this project.Chapter 2 is literature survey. In this section, we have seen the different aspects in which our project could have been made, i.e., by using Bluetooth module, by using android application, by using temperature module. All the components that should be used in the project come in this section.Chapter 3 is our work emphasizing our contribution. In this chapter we have shown the problems we faced while designing and making the circuit and how we have overcome them. For example, how we have achieved the wireless communication, how we found out the frequency of the working circuit, how we have established the interfacing between the different components in the war field spy robot. Chapter 4 is implementation and results. This chapter constitutes the circuit diagram, its working description, the various components and measuring instruments used in this project and the result we finally obtained. All the software that was used in designing the circuit and for programming the microcontroller was discussed in this section.Chapter 5 is conclusion and future work. In this section we discuss the future scope of our project. Concluded all the aspects that should be used while making the project & applications of the project.Chapter 6 is bibliography in which we have given the references from where we acquired all the suitable data for this report.

CHAPTER-2LITERATURE SURVEY2.1 MICROCONTROLLER (PIC16F77A)PIC16F73/76 devices are available only in 28-pin packages, while PIC16F74/77 devices are available in 40-pin and 44-pin packages. All devices in the PIC16F7X family share common architecture, with the following differences: The PIC16F73 and PIC16F76 have one-half of the total on- chip memory of the PIC16F74 and PIC16F77. The 28-pin devices have 3 I/O ports, while the 40/44-pin devices have 5. The 28-pin devices have 11 interrupts, while the 40/44-pin devices have 12. The 28-pin devices have 5 A/D input channels, while the 40/44-pin devices 8 The Parallel Slave Port is implemented only on the 40/44-pin devices.

Fig 2.1.1 Pin Diagram of PIC16F877 MicrocontrollerPIN DESCRIPTION:MCLR/VPP:Master Clear (Reset) input or programming voltage input. This pin is an active low RESET to the device.RA0 - RA5:These are the bi-directional Input / output PORTA pins. RA1, RA2, are the analog inputs 1, analog input2.RA3 can also be analog input3 or analog reference voltage.RA4 can also be the clock input to the Timer0 module. Output is open drain

OSC1/CLK1:Oscillator crystal input / External clock source input.OSC2/CLKO: Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. In RC mode, the OSC2 pin outputs CLKO, which has 1/4 the frequency of OSC1, and denotes the instruction cycle rate.RC0 RC7:These are the bidirectional Input / Output PORTC pins. RC0/T1OSO/ T1CK. RC0 can also be the Timer1 oscillator output or Timer1 Clock input. RC1/T1OSI is the Timer1 oscillator input. RC2/CCP is the Capture1 input/Compare1 output/ PWM1 output. RC3/SCK/SCL. RC3 can also be the synchronous serial clock input/output for Both SPI and I2C modes. RC4/SDI/SDA is the SPI Data In (SPI mode) or Data I/O (I2C mode). RC5/SDO is e the SPI Data Out (SPI mode). RC6. RC7.VDD:Positive supply for logic and I/O pins.RB0 RB7: These are the bi-directional I/O PORTB pins. PORTB can be software programmed for internal weak pull-up on all inputs.RB0/IN is the external interrupt pin.RB1, RB2, RB3 are the bi-directional pins. RB4 is the Interrupt-on-change pin. RB5 is the Interrupt-on-change pin. RB6/PGC is the Interrupt-on-change pin. Serial programming clock.RB7/PGD is the Interrupt-on-change pin. Serial programming data.I / O PORTS:Some pins for these I/O ports are multiplexed with an alternate function for the peripheral features on the device. In general, when a peripheral is enabled, that pin may not be used as a general purpose I/O pin. Additional information on I/O ports may be found in the PIC micro Mid-Range MCU Reference Manual, (DS33023).

PORTA and the TRISA Register:PORTA is a 6-bit wide, bi-directional port. The corresponding data direction register is TRISA. Setting a TRISA bit (= 1) will make the corresponding PORTA pin an input (i.e., put the corresponding output driver in a Hi-Impedance mode). Clearing a TRISA bit (= 0) will make the corresponding PORTA pin an output (i.e., put the contents of the output latch on the selected pin. Reading the PORTA register, reads the status of the pins, whereas writing to it will write to the port latch. All write operations are read-modify-write operations. Therefore, a write to a port implies that the port pins are read, this value is modified and then written to the port data latch Pin RA4 is multiplexed with the Timer0 module clock input to become the RA4/T0CKI pin. The RA4/T0CKI pin is an Schmitt Trigger input and an open drain output. All other RA port pins have TTL input levels and full CMOS output drivers. Other PORTA pins are multiplexed with analog inputs and analog VREF input. The operation of each pin is selected by clearing/setting the control bits in the ADCON1 register (A/D Control Register1). Other PORTA pins are multiplexed with analog inputs and analog VREF input. The operation of each pin is selected by clearing/setting the control bits in the ADCON1 register (A/D Control Register1). Other PORTA pins are multiplexed with analog inputs and analog VREF input. The operation of each pin is selected by clearing/setting the control bits in the ADCON1 register (A/D Control Register1). The TRISA register controls the direction of the RA pins, even when they are being used as analog inputs. The user must ensure the bits in the TRISA register are maintained set when using them as analog inputs.PORTB and the TRISB Register:PORTB is an 8-bit wide, bi-directional port. The corresponding data direction register is TRISB. Setting a TRISB bit (= 1) will make the corresponding PORTB pin an input (i.e., put the corresponding output driver in a Hi-Impedance mode). A single control bit can turn on all the pull-ups. This is performed by clearing bit RBPU (OPTION). The weak pull-up is automatically turned off when the port pin is configured as an output. The pull-ups are disabled on a Power-on Reset.

Four of PORTBs pins, RB7:RB4, have an interrupt-on-change feature. Only pins will be configured as inputs can cause this interrupt to occur (i.e., any RB7:RB4 pin configured as an output is excluded from the interrupt on change comparison). The input pins (of RB7:RB4) are compared with the old value latched on the last read of PORTB. The mismatch outputs of RB7:RB4 are ORd together to generate the RB Port Change Interrupt with flag bit RBIF (INTCON).PORTC and the TRISC Register:PORTC is an 8-bit wide, bi-directional port. The corresponding data direction register is TRISC. Setting a TRISC bit (= 1) will make the corresponding PORTC pin an input (i.e., put the corresponding output driver in a Hi-Impedance mode). Clearing a TRISC bit (= 0) will make the corresponding PORTC pin an output (i.e., put the contents of the output latch on the selected pin). PORTC is multiplexed with several peripheral functions. PORTC pins have Schmitt Trigger input buffers. When enabling peripheral functions, care should be taken in defining TRIS bits for each PORTC pin. Some peripherals override the TRIS bit to make a pin an out-put, while other peripherals override the TRIS bit to make a pin an input. Since the TRIS bit override is in effect while the peripheral is enabled, read-modify-write instructions (BSF, BCF, XORWF) with TRISC as destination should be avoided. The user should refer to the corresponding peripheral section for the correct TRIS bit settings.

Capture Mode:In Capture mode, CCPR1H: CCPR1L captures the 16-bit value of the TMR1 register when an event occurs on pin RC2/CCP1. An event is defined as a: Every falling edge Every rising edge Every 4th rising edge Every 16th rising edgeAn event is selected by control bits CCP1M3:CCP1M0 (CCP1CON). When a capture is made, the interrupt request flag bit CCP1IF (PIR1) is set. It must be cleared in software. If another capture occurs before the value in register CCPR1 is read, the old captured value is overwritten by the new captured value.

Compare Mode:In Compare mode, the 16-bit CCPR1 register value is constantly compared against the TMR1 register pair value. When a match occurs, the RC2/CCP1 pin is: Driven High Driven Low Remains UnchangedThe action on the pin is based on the value of control bits CCP1M3: CCP1M0 (CCP1CON). At the same time, interrupt flag bit CCP1IF is set. The output may become inverted when the mode of the module is changed from Compare/Clear on Match (CCPxM = 1001) to Compare/Set on Match (CCPxM = 1000). This may occur as a result of any operation that selectively clears bit CCPxM0, such as a BCF instruction. When this condition occurs, the output becomes inverted when the instruction is executed. It will remain inverted for all following Compare operations, until the module is reset.

ANALOG-TO-DIGITAL CONVERTER (A/D) MODULE:The analog-to-digital (A/D) converter module has five inputs for the PIC16F72. The A/D allows conversion of an analog input signal to a corresponding 8-bit digital number. The output of the sample and hold is the input into the converter, which generates the result via successive approximation. The analog reference voltage is software selectable to either the devices positive supply voltage (VDD) or the voltage level on the RA3/AN3/VREF pin.The A/D converter has a unique feature of being able to operate while the device is in SLEEP mode. To operate in SLEEP, the A/D conversion clock must be derived from the A/Ds internal RC oscillator.The A/D module has three registers: A/D Result RegisterADRES A/D Control Register 0ADCON0 A/D Control Register 1ADCON1A device RESET forces all registers to their RESET state. This forces the A/D module to be turned off and any conversion is aborted. The ADCON0 register, shown in Register 10-1, controls the operation of the A/D module. The ADCON1 register, shown in Register 10-2, configures the functions of the port pins. The port pins can be configured as analog inputs (RA3 can also be a voltage reference) or a digital I/O.

OSCILLATOR CONFIGURATIONS:The PIC16F72 can be operated in four different Oscillator modes. The user can program two configuration bits (FOSC1 and FOSC0) to select one of these four Modes: LPLow Power Crystal XTCrystal/Resonator HSHigh Speed Crystal/Resonator RCResistor/CapacitorRESET:The PIC16F72 differentiates between various kinds of RESET: Power-on Reset (POR) MCLR Reset during normal operation MCLR Reset during SLEEP WDT Reset (during normal operation) WDT Wake-up (during SLEEP) Brown-out Reset (BOR)Some registers are not affected in any RESET condition. Their status is unknown on POR and unchanged in any other RESET. Most other registers are reset to a RESET state on Power-on Reset (POR), on the MCLR and WDT Reset, on MCLR Reset during SLEEP, and Brown-out Reset (BOR). They are not affected by a WDT Wake-up, which is viewed as the resumption of normal operation. The TO and PD bits are set or cleared differently in different RESET situations, as indicated in Table 11-4. These bits are used in software to determine the nature of the RESET.

Power-on Reset (POR):A Power-on Reset pulse is generated on-chip when VDD rise is detected (in the range of 1.2V - 1.7V). To take advantage of the POR, tie the MCLR pin to VDD, A maximum rise time for VDD is specified. When the device starts normal operation (exits the RESET condition), device-operating parameters (volt-age, frequency, temperature,) must be met to ensure operation. If these conditions are not met, the device must be held in RESET until the operating conditions met.

Power-up Timer (PWRT):The Power-up Timer provides a fixed 72 ms nominal time-out on power-up only From the POR. The Power-up Timer operates on an internal RC oscillator. The chip is kept in RESET as long as the PWRT is active. The PWRTs time delay allows VDD to rise to an acceptable level. A configuration bit is provided to enable/ disable the PWRT. The power-up time delay will vary from chip to chip due to VDD, temperature and process variation.

Oscillator Start-up Timer (OST):The Oscillator Start-up Timer (OST) provides 1024 oscillator cycles (from OSC1 input) delay after the PWRT delay is over (if enabled). This helps to ensure that the crystal oscillator or resonator has started and stabilized. The OST time-out is invoked only for XT, LP and HS modes and only on Power-on Reset or wake-up from SLEEP.

Brown-out Reset (BOR):The configuration bit, BOREN, can enable or disable the Brown-out Reset circuit. If VDD falls below VBOR (parameter D005, about 4V) for longer than TBOR (parameter #35, about 100 s), the brown-out situation will reset the device. If VDD falls below VBOR for less than TBOR, a RESET may not occur. Once the brown-out occurs, the device will remain in Brown-out Reset until VDD rises above VBOR. The Power-up Timer then keeps the device in RESET for TPWRT (parameter #33, about 72 ms). If VDD should fall below VBOR during TPWRT, the Brown-out Reset process will restart when VDD rises above VBOR, with the Power-up Timer Reset. The Power-up Timer is always enabled when the Brown-out Reset circuit is enabled, regardless of the state of the PWRT configuration bit.

Power Control/Status Register (PCON):The Power Control/Status Register, PCON, has two bits to indicate the type of RESET that last occurred. Bit0 is Brown-out Reset Status bit, BOR. Bit BOR is unknown on a Power-on Reset. It must then be set by the user and checked on subsequent RESETS to see if bit BOR cleared, indicating a Brown-out Reset occurred. When the Brown-out Reset is disabled, the state of the BOR bit is unpredictable.Bit1 is POR (Power-on Reset Status bit). It is cleared on a Power-on Reset and unaffected otherwise. The user must set this bit following a Power-on Reset.

2.3. BLUETOOTH MODULEHC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for transparent wireless serial connection setup. Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04-External single chip Bluetooth system with CMOS technology and with AFH (Adaptive Frequency Hopping Feature). It has the footprint as small as 12.7mmx27mm. Hope it will simplify your overall design/development cycle.Bluetooth Moduleis a Drop-in replacement for wired serial connections, transparent usage. You can use it simply for serial port replacement to establish connection between MCU and GPS, PC to your embedded project /Robot etc. The module can be configured for baud rates 1200 to 115200 bps. This is a Slave mode only Bluetooth Device. If you need a Master/Slave switchable device refer to this product: Bluetooth UART Module Hardware features Typical -80dBm sensitivity Up to +4dBm RF transmit power Low Power 1.8V Operation ,1.8 to 3.6V I/O PIO control UART interface with programmable baud rate With integrated antenna With edge connector

Software features Given a rising pulse in PIO0, device will be disconnected. Status instruction port PIO1: low-disconnected, high-connected; Auto-connect to the last device on power as default. Permit pairing device to connect as default. Auto-pairing PINCODE:0000 as default Auto-reconnect in 30 min when disconnected as a result of beyond the range of connection.

Fig.2.3.1 Diagram of a Bluetooth Module HC-05

2.4. WIRELESS CAMERAWireless A/V camera high receive sensitivity +18dB,Receive signal picture sound 0.9G/1.2G.with high quality output . RM0100 is a Wireless A/V camera high receives sensitivity +18dB, Receive signal picture sound 0.9G/1.2G.with high quality output. The RM0100 is a 2.4 GHz wireless camera works at ISM band. It may cause interferences with other wireless equipment that operates at the same band. The Camera Transmitter with Receiver Set suitable for monitoring the robot, children and elders, and widely used for theft prevention, after-hours surveillance, home security, for household, companies, shops, factories, security CCTV system kit. We can view the cameras on your TV or record directly to VCR. The Wireless Camera and Receiver will provide a day and night monitoring solution with the convenience of wireless technology. RM0100 wireless camera meets wireless frequency security standards and recommends indexes while working. These standards and indexes are certificated by academic organization and represent the cogitative research of the scientific workers who continuously explore and annotate the involved fields.

Features- New and high quality 380TV lines picture display Low radiation, safe and healthy Built-in microphone for audio monitoring Including adaptive bracket, easy installation Suitable for monitoring children, elders and widely used for theft prevention, after hours surveillance, home security, etc.

Specifications-Camera: A Night vision enables no light or low light usage. High-quality picture transmitting and receiving. Transmit distant up to 200 Ft.Kit Includes:1 x Wireless 1/3" 380TVL Pinhole Camera Transmitter with Receiver Set1 x Antenna1 x 110V /220V AC Adapter for the camera (camera can either use battery or the power adapter)1 x 8V Battery Adapter clip (for camera uses battery)1 x 110v /220V AC Adapter for the receiver1 x Video Cable (from Transmitter to your TV/VCR)

General Characteristics

TypeCamera and Accessories

Product IDRM0100

Dimension(120 x 75 x 30) mm

Weight400 g m

Frequency2.5 GHz

Output TypeWireless A / V Transmission

Image Acquisition Property

Acquisition Size628 x 582

Output FormatPAL / NTSC

Power Supply

TypeDC

Operating Voltage9 V

Operating Current500 mA

Fig 2.4.1 Diagram of Wireless Camera & Receiver

2.5. METAL DETECTORAmetal detectoris a portableelectronic instrumentwhich detects the presence of metal nearby. Metal detectors are useful for finding metal inclusions hidden within objects, or metal objects buried underground. They often consist of a handheld unit with a sensor probe which can be swept over the ground or other objects. If the sensor comes near a piece of metal this is indicated by a changing tone in earphones, or a needle moving on an indicator. Usually the device gives some indication of distance; the closer the metal is, the higher the tone in the earphone or the higher the needle goes. Another common type are stationary "walk through" metal detectors used forsecurity screeningat access points in prisons, courthouses, and airports to detect concealed metal weapons on a person's body. The simplest form of a metal detector consists of anoscillatorproducing an alternating current that passes through a coil producing an alternating magnetic field. If a piece of electrically conductive metal is close to the coil,eddy currentswill be induced in the metal, and this produces a magnetic field of its own. If another coil is used to measure the magnetic field, the change in the magnetic field due to the metallic object can be detected.The first industrial metal detectors were developed in the 1960s and were used extensively for mineral prospecting and other industrial applications. Uses includede-miningthe detection ofland mines, the detection of weapons such as knives and guns especially in airport security, geophysical prospecting, and treasure Hunting. Metal detectors are also used to detect foreign bodies in food, and in the construction industryto detectsteel reinforcing barsin concrete and pipes and wires buried in walls and floors.METAL DETECTOR SENSOR USED K1208065- Model: K1208065 Quantity: 1 Color: Silver + Black Material: PVC + metal Working voltage: DC 5~36V Output type: Three-wire PNP positive logic output Detection distance: 0~4ms Switch type: Electric sensor Diameter: 12mm 12cm threaded installation

Switch type is high-frequency oscillation, no contact, no pressure, no sparking Quickly issued a detection signal to drive the relay or logic gates High sensitivity and fast frequency response, high repeatability accuracy, short change process, big output power, high anti-interference performance, working stability and reliable, long life, anti-shock and water resistant.

Fig 2.5.1 Diagram of Metal DetectorInductive Proximity Sensor-Inductive proximity sensors operate under the electrical principle of inductance. Inductance is the phenomenon where a fluctuating current, which by definition has a magnetic component, induces an electromotive force (emf) in a target object. To amplify a devices inductance effect, a sensor manufacturer twists wire into a tight coil and runs a current through it. An inductive proximity sensor has four components; the coil, oscillator, detection circuit and output circuit. The oscillator generates a fluctuating magnetic field the shape of a doughnut around the winding of the coil that locates in the devices sensing face. When a metal object moves into the inductive proximity sensors field of detection, Eddy circuits build up in the metallic object, magnetically push back, and finally reduce the Inductive sensors own oscillation field. The sensors detection circuit monitors the oscillators strength and triggers an output from the output circuitry when the oscillator becomes reduced to a sufficient level.

Fig 2.5.2 Internal Diagram of Metal Detector

2.6. LASER-(SHOOTING GUN)Alaseris a device that emitslightthrough a process ofoptical amplificationbased on thestimulated emissionof electromagnetic radiation. The term "laser" originated as anacronymfor "light amplification by stimulated emission of radiation". Lasers differ from other sources of light because they emit lightcoherently.Spatial coherenceallows a laser to be focused to a tight spot, enabling applications likelaser cuttingandlithography. Spatial coherence also allows a laser beam to stay narrow over long distances (collimation), enabling applications such aslaser pointers. Lasers can also have high temporal coherencewhich allows them to have a very narrowspectrum, i.e., they only emit a single color of light. Temporal coherence can be used to producepulsesof lightas short as afemtosecond.Lasers have many important applications. They are used in common consumer devices such asDVD players,laser printers, andbarcode scanners. They are used in medicine forlaser surgeryand various skin treatments, and in industry for cutting andweldingmaterials. They are used in military andlaw enforcementdevices for marking targets andmeasuring rangeand speed.Laser lighting displaysuse laser light as an entertainment medium. Lasers also have many important applications in scientific research.Laser is used for shooting gun purpose. Laser will work same like a gun whenever trigger is pressed it will shoot. Laser triggering is interfaced with the microcontroller when the switched is pressed at the controller unit laser will be triggered ON. In this way the shooting gun mechanism will work in the robot. The application of using the shooting gun mechanism is that we will shoot the enemies in the war field or it is used in disposing the bombs. Fig 2.6.1 Diagram of Laser Light

2.7. GRIPPEROne of the most important areas in the design of robot systems is the design of end effectors. Most of the problems that occur in production are caused by badly designed tooling and not by faults in the robots. There are many different types of gripper available along with the vast number of specialist tools for nut running, arc welding, paint spraying etc. These grippers are not used solely with robots however. They can be used for fix Turing components anywhere in an automated or semi-automated line.Gripper Types-The most commonly used grippers are finger grippers. These will generally have two opposing fingers or three fingers like a lathe chuck. The fingers are driven together such that once gripped any part is centered in the gripper. This gives some flexibility to the location of components at the pick-up point. Two finger grippers can be further split into parallel motion or angular motion fingers.For some tasks however where flexible or fragile objects are being handled the use of either vacuum or magnetic grippers is preferable. With these the surface of the gripper is placed in contact with the object and either a magnetic field or a vacuum is applied to hold them in contact. Any errors in placement of the object at the pick-up point will be reflected in a similar error at the destination so these grippers are not usually used for high accuracy applications.Accessories-Along with a wide range of standard grippers being available there are also a number of standard accessories for mounting them. If motion of the gripper is required which cannot easily be provided by the robot then this can be provided in the end effector. Linear and rotary units are available in many different configurations. Gripper Drives-The same options are available for grippers as for robots. The most popular one here is pneumatic however because of the ease with which it can be supplied to the end of a robot arm and controlled. The only disadvantages of pneumatics are that it has a slightly lower power to weight ratio than hydraulics and it is not as controllable or easy to feed as electricity. In most situations however these are not important.Environmental capabilities-End effectors are often required to work in hostile environments. High temperatures, dust or the presence of chemicals will require special materials or designs to be used.

Sensor capabilities-For certain applications some degree of sensory feedback from the gripper is necessary. This may be measurement of insertion or gripping forces or may simply be a proximity sensor to say if anything is between the jaws of the gripper. Some standard grippers are provided with feedback to show the separation of the jaws but most grippers have no feedback.Others-Other factors to be considered include the speed of the gripper jaws and the range of sizes of component they can grip. The amount of maintenance required is also important though most modern mechanisms require little or no maintenance. For some situations the behavior of the gripper on power failure may be critical. Some but not all use either springs to apply the gripping force or non-return valves to ensure that pressure is maintained. Gripper Design Considerations-When selecting a gripper there are a number of factors that may need consideration.Gripping force-When considering the gripping force required a number of factors must be considered. Not only must the mass of the object to be gripped be taken into account but also the accelerations imposed on it by the robot. Where accelerations are not known a figure of 2.5g is generally assumed. The coefficient of friction between the gripper and the object may also be an important factor. This can often be increased by using one of the special rubber based materials that have been developed. The use of these materials can create maintenance issues however as they have a finite life.One other way of reducing the gripping force required is to use fingers designed for the form of the component. This reduces the flexibility of the gripper but dramatically increases the weight carrying capacity.Weight-Industrial robots have fixed lifting capabilities and the combined weight of the gripper and gripped component may be important. Even where this weight is within the capability of the robot it may cause an unacceptable increase in the cycle time of the operation. The distance between the robot flange and the centre of mass may also be important and this should be kept to a minimum.Supply of services-With robot end effectors loose cable or hoses are something to be avoided. They increase the size of the tool (making it harder to reach into confined spaces) and cause many failures due to rubbing or snagging on other parts of the mechanism.

Gripper Fixing Steps-

Fig 2.7.1 Diagram showing stepwise attachment of parts of gripper

Fig 2.7.2 Diagram showing stepwise attachment of parts of gripper

2.8. CHASSISIn an electronic device the chassis consists of a frame or other internal supporting structure on which thecircuit boardsand other electronics are mounted. In the absence of a metal frame the chassis refers to the circuit boards and components themselves, not the physical structure. The combination of chassis and outer covering is sometimes called an enclosure. On chassis all the components are mounted. It is simply a platform on which all the elements are fixed like D.C motor, Battery, Gripper, Metal detector, Bluetooth module, Temperature module, Laser for Shooting Gun Mechanism, Wireless camera.Chassis Board is the mechanical frame structure of the mobile robots. It should is the backbone of the robot. We arrange/connect everything like motors, sensors, wheels, development board, studs, clamps, screws, etc. It give us the base to build our robot and allow us place our components according to our requirements.Material of the Chassis:The material of chassis should be:-1. High durable2. High non- flexible3. More strength4. Light weight5. Has potential safety hazards6. Can be re shape easily7. Resistant to corrosion8. Compression and depression9. Highly rigid

Fig 2.8.1 Diagram of Robot Chassis

2.9. D.C.MOTORA DC motor is a mechanically commutated electric motor powered from direct current (DC). The stator is stationary in space by definition and therefore so is its current. The current in the rotor is switched by the commutator to also be stationary in space. This is how the relative angle between the stator and rotor magnetic flux is maintained near 90 degrees, which generates the maximum torque. DC motors have a rotating armature winding but non-rotating armature magnetic field and a static field winding or permanent magnet. Different connections of the field and armature winding provide different inherent speed/torque regulation characteristics. The speed of a DC motor can be controlled by changing the voltage applied to the armature or by changing the field current. The introduction of variable resistance in the armature circuit or field circuit allowed speed control. Modern DC motors are often controlled by power electronics systems called DC drives. The introduction of DC motors to run machinery eliminated the need for local steam or internal combustion engines, and line shaft drive systems. DC motors can operate directly from rechargeable batteries, providing the motive power for the first electric vehicles. Today DC motors are still found in applications as small as toys and disk drives, or in large sizes to operate steel rolling mills and paper machines. Working of centered shaft gear box of DC motor-The working of the gears is very interesting to know. It can be explained by the principle of conservation of angular momentum. The gear having smaller radius will cover more RPM than the one with larger radius. However, the larger gear will give more torque to the smaller gear than vice versa. The comparison of angular velocity between input gear (the one that transfers energy) to output gear gives the gear ratio. When multiple gears are connected together, conservation of energy is also followed. The direction in which the other gear rotates is always the opposite of the gear adjacent to it. In any DC motor, RPM and torque are inversely proportional Hence the gear having more torque will provide a lesser RPM and converse.

Fig 2.9.1 Diagram of D.C Motor

2.10 MOTOR DRIVERL293D is a dualH-bridgemotor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.

Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.

Fig 2.10.1 L293D Integrated CircuitL293D ConnectionsThe circuit shown to the right is the most basic implementation of L293D IC. There are 16 pins sticking out of this IC and we have to understand the functionality of each pin before implementing this in a circuit.1. Pin1 and Pin9 are "Enable" pins. They should be connected to +5V for the drivers to function. If they pulled low (GND), then the outputs will be turned off regardless of the input states, stopping the motors. If you have two spare pins in your microcontroller, connect these pins to the microcontroller, or just connect them to regulated positive 5 Volts.

2. Pin4, Pin5, Pin12 and Pin13 are ground pins which should ideally be connected to microcontroller's ground.3. Pin2, Pin7, Pin10 and Pin15 are logic input pins. These are control pins which should be connected to microcontroller pins. Pin2 and Pin7 control the first motor (left); Pin10 and Pin15 control the second motor(right).4. Pin3, Pin6, Pin11, and Pin14 are output pins. Tie Pin3 and Pin6 to the first motor, Pin11 and Pin14 to second motor5. Pin16 powers the IC and it should be connected toregulated+5Volts6. Pin8 powers the two motors and should be connected to positive lead of a secondary battery. As per the datasheet, supply voltage can be as high as 36 Volts.

Fig 2.10.2 Pin Diagram of L239d with I/O ConnectionsTruth table-Pin 1Pin 2Pin 7Function

HighHighLowTurn Anti-clockwise (Reverse)

HighLowHighTurn clockwise (Forward)

HighHighHighStop

HighLowLowStop

LowXXStop

In the above truth table you can observe that if Pin1 (E1) is low then the motor stops, irrespective of the states on Pin2 and Pin7. Hence it is essential to hold E1 high for the driver to function, or simply connect enable pins to positive 5 volts. With Pin1 high, if Pin2 is set high and Pin7 is a pulled low, then current flow from Pin2 to Pin7 driving the motor in anti-clockwise direction. If the states of Pin2 and Pin7 are flipped, then current flows from Pin7 to Pin2 driving the motor in clockwise direction. The above concept holds true for other side of the IC too. Fig 2.10.3 Pin Diagram of L293D Pin NoFunctionName

1Enable pin for Motor 1; active highEnable 1,2

2Input 1 for Motor 1Input 1

3Output 1 for Motor 1Output 1

4Ground (0V)Ground

5Ground (0V)Ground

6Output 2 for Motor 1Output 2

7Input 2 for Motor 1Input 2

8Supply voltage for Motors; 9-12V (up to 36V)Vcc

9Enable pin for Motor 2; active highEnable 3,4

10Input 1 for Motor 1Input 3

11Output 1 for Motor 1Output 3

12Ground (0V)Ground

13Ground (0V)Ground

14Output 2 for Motor 1Output 4

15Input2 for Motor 1Input 4

16Supply voltage; 5V (up to 36V)Vcc1

2.11 BATTERYSealed Lead Calcium Maintenance Free Battery is an advanced and economic rechargeable battery. It has several properties different from other types of batteries Maintenance Free - As it is valve-regulated, sealed and glass-mat is utilized, acid is trapped inside. So, refilling is not needed and is leak proof. Discharge voltage remains stable even in conditions of high-rate discharge current for equipment needing a high-rate discharge current, it's far more stable than other battery types. No Memory Effect -Some batteries, say nickel-cadmium batteries, will become conditioned to provide small power after repetitious short usage/discharge. Low Self Discharge - The self-discharge rate for SMF battery is about 2-3% per month at room temperature compared with 20-30% for other common battery systems Long Service Life - Utilizing thick and massive calcium grids, SMF battery has a long service life High. Discharge Rate - Since the internal resistance is low, the battery can provide high rate of discharge. Wide Operating Temperature Range - SMF battery is rated at 200C and will operate from - 600C to +600C when it is fully charged.

Power Supply Type DC Cycle Use 14.4V-15.0V Output Power 12V 1.3A Standby Use 13.5V-13.8V Initial Current Less than 0.39A

Powered by

Fig 2.11.1 Diagram of Battery

2.12 WHEELSA wheel is a circular component that is intended to rotate on an axial bearing. The wheel is one of the main components ofthe wheel and axle which is one of the six simple machines. Wheels, in conjunction with axles, allow heavy objects to be moved easily facilitating movement or transportation while supporting a load, or performing labor in machines.A tire (or tyre) is a ring-shaped covering that fits around a wheel's rim to protect it and enable better vehicle performance The materials of modern pneumatic tires are synthetic rubber, natural rubber, fabric and wire, along with carbon black and other chemical compounds. They consist of a tread and a body. The tread provides traction while the body provides containment for a quantity of compressed air.Performance Characteristics- Rolling Resistance Balance

Specifications- Width of the tire- 20mm Diameter of the tire- 100mm Diameter of the shaft hole- 6mm

Fig 2.12.1 Diagram of Wheel

2.13 VOLTAGE REGULATOR-7805Avoltage regulatoris designed to automatically maintain aconstant voltagelevel. A voltage regulator may be a simple "feed-forward" design or may includenegative feedbackcontrol loops. It may use an electromechanicalmechanism, or electronic components. Depending on the design, it may be used to regulate one or moreACorDCvoltages. Electronic voltage regulators are found in devices such as computerpower supplieswhere they stabilize the DC voltages used by the processor and other elements. In automobilealternatorsand centralpower stationgenerator plants, voltage regulators control the output of the plant. In anelectric power distributionsystem, voltage regulators may be installed at a substation or along distribution lines so that all customers receive steady voltage independent of how much power is drawn from the line.It is a three pin IC used as a voltage regulator. It converts unregulated DC current into regulated DC current.7805 is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linear voltage regulator ICs. The voltage source in a circuit may have fluctuations and would not give the fixed voltage output. The voltage regulator IC maintains the output voltage at a constant value. The xx in 78xx indicates the fixed output voltage it is designed to provide.7805 provides +5V regulated power supply. Capacitors of suitable values can be connected at input and output pins depending upon the respective voltage levels.

Fig 2.13.1 Diagram Showing 7805 IC

Fig 2.13.2 Diagram Showing Pin of 7805 IC 2.14 SWITCHIn electrical engineering, a switch is an electrical component that can break an electrical circuit, interrupting the current or diverting it from one conductor to another. The most familiar form of switch is a manually operated electromechanical device with one or more sets of electrical contacts, which are connected to external circuits. Each set of contacts can be in one of two states: either "closed" meaning the contacts are touching and electricity can flow between them, or "open", meaning the contacts are separated and the switch is non-conducting. The mechanism actuating the transition between these two states (open or closed) can be either a "toggle" (flip switch for continuous "on" or "off") or "momentary" (push-for "on" or push-for "off") type.A switch may be directly manipulated by a human as a control signal to a system, such as a computer keyboard button, or to control power flow in a circuit, such as alight switch. Automatically operated switches can be used to control the motions of machines, for example, to indicate that a garage door has reached its full open position or that a machine tool is in a position to accept another workpiece. Switches may be operated by process variables such as pressure, temperature, flow, current, voltage, and force, acting assensorsin a process and used to automatically control a system.An ideal switch would have no voltage drop when closed, and would have no limits on voltage or current rating. It would have zerorise timeandfall timeduring state changes, and would change state without "bouncing" between on and off positions. Practical switches fall short of this ideal; they have resistance, limits on the current and voltage they can handle, finite switching time, etc.

Fig 2.14.1 Diagram of DPDT Switch

2.15 LM35 SENSORGeneral Description-The LM35 series are precision integrated-circuit temperature sensors, whose output voltage is linearly proportional to the Celsius (Centigrade) temperature. The LM35 thus has an advantage over linear temperature sensors calibrated in Kelvin, as the user is not required to subtract a large constant voltage from its output to obtain convenient Centigrade scaling. The LM35 does not require any external calibration or trimming to provide typical accuracies of 14C at room temperature and 34C over a full 55 to +150C temperature range. Low cost is assured by trimming and calibration at the wafer level. The LM35s low output impedance, linear output, and precise inherent calibration make interfacing to readout or control circuitry especially easy. It can be used with single power supplies, or with plus and minus supplies. As it draws only 60 A from its supply, it has very low self-heating, less than 0.1C in still air. The LM35 is rated to operate over a 55 to +150C temperature range, while the LM35C is rated for a 40 to +110C range (10 with improved accuracy). The LM35 series is available packaged in hermetic TO-46 transistor packages, while the LM35C, LM35CA, and LM35D are also available in the plastic TO-92 transistor package. The LM35D is also available in an 8-lead surface mount small outline package and a plastic TO-220 package.

Features n Calibrated directly in Celsius (Centigrade) n Linear + 10.0 mV/C scale factor n 0.5C accuracy guarantee able (at +25C) n Rated for full 55 to +150C range n Suitable for remote applications n Low cost due to wafer-level trimming n Operates from 4 to 30 volts n Less than 60 A current drain n Low self-heating, 0.08C in still air n Nonlinearity only 14C typical

Fig 2.15.1 Diagram of LM35 Sensor

2.16 LM324 These circuits consist of four independent, high gains, internally frequency compensated operational amplifiers. They 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. Operation from split power supplies is also possible so long as the difference between the two supplies is 3 volts to 32 volts. Application areas include transducer amplifier, DC gain blocks and all the conventional OP Amp circuits which now can be easily implemented in single power supply systems. Internally Frequency Compensated for Unity Gain Large DC Voltage Gain: 100dB Wide Power Supply Range: LM324: 3V~32V (or 1.5 ~16V) Input Common Mode Voltage Range Includes Ground Large Output Voltage Swing: 0V to VCC -1.5V

Fig 2.16.1 Diagram of LM324 IC

Fig 2.16.2 Pin Description of LM324 IC

2.17 POTENTIOMETERApotentiometer is a three terminalresistorwith a sliding contact that forms an adjustablevoltage divider. If only two terminals are used, one end and the wiper, it acts as avariable resistororrheostat.Apotentiometer measuring instrumentis essentially a voltage divider used for measuringelectric potential(voltage); the component is an implementation of the same principle, hence its name.Potentiometers are commonly used to control electrical devices such as volume controls on audio equipment. Potentiometers operated by a mechanism can be used as positiontransducers, for example, in ajoystick. Potentiometers are rarely used to directly control significant power (more than awatt), since the power dissipated in the potentiometer would be comparable to the power in the controlled load. Potentiometer acts as a variable resistor. According to the need the value of resistance should be changed.

Fig 2.17.1 Diagram Showing Various Types of Potentiometer

Electronic symbol

(International)(US)

Fig 2.17.2 Symbol of potentiometer 2.18 RESISTORResistor 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 a transistor. All other factors being equal, in a direct-current (DC) circuit, the current through a resistor is inversely proportional to its resistance and directly proportional to the voltage across it. This is the well-known Ohm's Law. In alternating-current (AC) circuits, this rule also applies as long as the resistor does not contain inductance or capacitance. Resistors can be fabricated in a variety of ways. The most common type in electronic devices and systems is the carbon-composition resistor. Fine granulated carbon (graphite) is mixed with clay and hardened. The resistance depends on the proportion of carbon to clay; the higher this ratio, the lower the resistance. Resistors are common elements ofelectrical networksandelectronic circuitsand are ubiquitous inelectronic equipment. Practical resistors can be composed of various compounds and films, as well asresistance wires(wire made of a high-resistivity alloy, such as nickel-chrome). Resistors are also implemented withinintegrated circuits, particularly analog devices, and can also be integrated into hybridandprinted circuits. Practical resistors have a seriesinductanceand a small parallelcapacitance; these specifications can be important in high-frequency applications. In alow-noise amplifierorpre-amp, thenoisecharacteristics of a resistor may be an issue. The unwanted inductance, excess noise, and temperature coefficient are mainly dependent on the technology used in manufacturing the resistor.

Fig 2.18.1 Symbol of Resistance

Fig 2.18.2 Actual View of Resistance

2.19 DIODEInelectronics, adiodeis a two-terminalelectronic device componentwith a asymmetricconductance; it has low (ideally zero)resistancetocurrent in one direction, and high (ideallyinfinite) resistance in the other. Asemiconductor diode, the most common type of today in recent days, is acrystalline piece ofsemiconductormaterial with apn junctionconnected to two electrical terminals.Avacuum tubediode has twoelectrodes, a plate(anode) and aheated cathode. Semiconductor diodes were the firstsemiconductor electronic devices. The discovery of the crystals rectifyingabilities was made by the German physicistFerdinand Braunin 1874. The first semiconductor diodes, calledcat's whisker diodes, developed around 1906, were made of mineral crystals such asgalena. Today, most diodes are made ofsilicon, but other semiconductors such asseleniumorgermaniumare sometimes used. The most common function of a diode is to allow an electric current to pass in one direction (called the diode'sforwarddirection), while blocking current in the opposite direction (thereverse direction). Thus, the diode can be viewed as an electronic version of acheck valve. This unidirectional behavior is calledrectification, and is used to convertalternating currenttodirect current, including extraction ofmodulationfrom radio signals in radio receivers these diodes are forms ofrectifiers.

Fig 2.19.1 Schematic of Diode

Fig 2.19.2 Diagram Showing Diode

2.20 CAPACITORAcapacitor(originally known as acondenser) is apassivetwo-terminalelectrical componentused to storeenergy electrostaticallyin anelectric field. The forms of practical capacitors vary widely, but all contain at least twoelectrical conductors(plates) separated by adielectric(i.e.,insulator). The conductors can be thin films of metal, aluminum foil or disks, etc. The 'non conducting' dielectric acts to increase the capacitor's charge capacity. A dielectric can be glass, ceramic, plastic film, air, paper, mica, etc. Capacitors are widely used as parts ofelectrical circuitsin many common electrical devices. Unlike a resistor, a capacitor does not dissipate energy. Instead, a capacitor storesenergyin the form of anelectrostatic fieldbetween its plates. A capacitor is a tool consisting of two conductive plates, each of which hosts an opposite charge. These plates are separated by a dielectric or other form of insulator, which helps them maintain an electric charge. There are several types of insulators used in capacitors. Examples include ceramic, polyester, tantalum air, and polystyrene. Other common capacitor insulators include air, paper, and plastic. Each effectively prevents the plates from touching each other. A capacitor is often used to store analogue signals and digital data. Another type of capacitor is used in the telecommunications equipment industry. This type of capacitor is able to adjust the frequency and tuning of telecommunications equipment and is often referred to a variable capacitor. A capacitor is also ideal for storing an electron.

Fig 2.20.1 Different types of capacitor

Fig 2.20.2 Diagram of Ceramic Capacitor

2.21 LIGHT EMITING DIODE (LED)Alight-emitting diode(LED) is a two-leadsemiconductorlight source that resembles a basicp n-junctiondiode, except that an LED also emits light.When an LED's anode lead has a voltage that is more positive than its cathode lead by at least the LED's forward voltage drop, current flows.Electronsare able to recombine withholeswithin the device, releasing energy in the form ofphotons. This effect is calledelectroluminescence, and the color of the light (corresponding to the energy of the photon) is determined by the energyband gapof the semiconductor. An LED is often small in area (less than 1mm2), and integrated optical components may be used to shape itsradiation pattern. Appearing as practical electronic components in 1962the earliest LEDs emitted low-intensity infrared light. Infrared LEDs are still frequently used as transmitting elements in remote-control circuits, such as those in remote controls for a wide variety of consumer electronics. The first visible-light LEDs were also of low intensity, and limited to red. Modern LEDs are available across thevisible, ultraviolet, andinfraredwavelengths, with very high brightness.LEDs were often used as indicator lamps for electronic devices, replacing small incandescent bulbs. They were soon packaged into numeric readouts in the form ofseven-segment displays, and were commonly seen in digital clocks. Recent developments in LEDs permit them to be used in environmental and task lighting. LEDs have many advantages over incandescent light sources including lower energy consumption, longer lifetime, improved physical robustness, smaller size, and faster switching. Light-emitting diodes are now used in applications as diverse asaviation lighting,automotive headlamps, advertising, general lighting,traffic signals, and camera flashes. However, LEDs powerful enough for room lighting are still relatively expensive, and require more precise current and heat management than compactfluorescent lampsources of comparable output. LEDs have allowed new text, video displays, and sensors to be developed, while their high switching rates are also useful in advanced communications technology.

Fig 2.21.1 Diagram showing LEDs

2.22 CRYSTAL OSCILLATORA crystal oscillator is an electronic oscillator circuit that uses the mechanical resonance of a vibrating crystal of piezoelectric 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 for digital 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 incorporating them became known as crystal oscillators, but other piezoelectric materials including polycrystalline ceramics are used in similar circuits.Quartz crystals are manufactured for frequencies from a few tens of kilohertz to tens of megahertz. More than two billion crystals are manufactured annually. Most are used for consumer devices such as wristwatches, clocks, radios, computers, and cell phones. Quartz crystals are also found inside test and measurement equipment, such as counters, signal generators, and oscilloscopes.

Fig 2.22.1 Diagram of Crystal Oscillator

Fig.2.22.2 Quartz crystal resonator (left) and quartz crystal oscillator (right)

CHAPTER-3STEPS IN CIRCUIT DESIGNING3.1 ETCHINGEtching is the process of using strong acid or mordant to cut into the unprotected parts of a metal surface to create a design in intaglio in the metal (the original processin modern manufacturing other chemicals may be used on other types of material). As an intaglio method of printmaking, it is, along with engraving, the most important technique for old master prints, and remains in wide use today.The majority of printed circuit boards today are made from purchased laminate material with copper already applied to both sides. The unwanted copper is removed by various methods leaving only the desired copper traces, this is called subtractive. In an additive method, traces are electroplated onto a bare substrate using a complex process with many steps. The advantage of the additive method is less pollution of the environment. The method chosen for PCB manufacture depends on the desired number of boards to be produced. Double-sided boards or multi-layer boards use plated-through holes, called vias, to connect traces on different layers of the PWB.

Fig 3.1.1 Process of Etching

3.2 DRILLINGHoles through a PCB are typically drilled with small-diameter drill bits made of solid coated tungsten carbide. Coated tungsten carbide is recommended since many board materials are very abrasive and drilling must be high RPM and high feed to be cost effective. Drill bits must also remain sharp so as not to mar or tear the traces. Drilling with high-speed-steel is simply not feasible since the drill bits will dull quickly and thus tear the copper and ruin the boards. The drilling is performed by automated drilling machines with placement controlled by a drill tape or drill file. These computer-generated files are also called numerically controlled drill (NCD) files or "Excellon files". The drill file describes the location and size of each drilled hole. These holes are often filled with annular rings (hollow rivets) to create vias. Vias allow the electrical and thermal connection of conductors on opposite sides of the PCB.When very small vias are required, drilling with mechanical bits is costly because of high rates of wear and breakage. In this case, the vias may be evaporated by lasers. Laser-drilled vias typically have an inferior surface finish inside the hole. These holes are called micro vias.

Fig 3.2.1 Process of Drilling

3.3 SOLDERINGSoldering is a process in which two or more metal items are joined together by melting and flowing a filler metal (solder) into the joint, the filler metal having a lower melting point than the work piece. Soldering differs from welding in that soldering does not involve melting the work pieces. In brazing, the filler metal melts at a higher temperature, but the work piece metal does not melt. Formerly nearly all solders contained lead, but environmental concerns have increasingly dictated use of lead-free alloys for electronics and plumbing purposes.

Fig 3.3.1 Process of Soldering3.4 PRINTED CIRCUIT BOARD (PCB)Aprinted circuit board mechanically supports and electrically connects electronic componentsusingconductivetrack, pads and other featuresetchedfrom copper sheetslaminatedonto a non-conductivesubstrate. PCBs can besingle sided(one copper layer),double sided(two copper layers) ormulti-layer. Conductors on different layers are connected with plated-through holes called vias. Advanced PCBs may contain components - capacitors, resistors or active devices - embedded in the substrate.

Printed circuit boards are used in all but the simplest electronic products. Alternatives to PCBs includewire wrapandpoint-to-point construction. PCBs require the additional design effort to lay out the circuit but manufacturing and assembly can be automated. Manufacturing circuits with PCBs is cheaper and faster than with other wiring methods as component are mounted and wired with one single part. Furthermore, operator wiring errors are eliminated.When the board has only copper connections and no embedded components it is more correctly called aprinted wiring board(PWB) oretched wiring board. Although more accurate, the term printed wiring board has fallen into disuse. A PCB populated with electronic components is called aprinted circuit assembly(PCA),printed circuit board assemblyorPCB assembly(PCBA). TheIPCpreferred term for assembled boards iscircuit card assembly(CCA), for assembledbackplanesit isbackplane assemblies. The term PCB is used informally both for bare and assembled boards. Today printed wiring (circuit) boards are used in virtually all but the simplest commercially produced electronic devices, and allow fully automated assembly processes that were not possible or practical in earlier era tag type circuit assembly processes.

Fig 3.4.1 PCB of War Field Spy Robot

CHAPTER-4IMPLEMENTATIONS AND RESULTS4.1 SOFTWARE USED-Micro C/OS-II(commonly termed asC/OS-IIoruC/OS-II), is the acronym for Micro-Controller Operating Systems Version 2. It is a priority-basedpre-emptivereal-timemultitaskingoperating system kernelformicroprocessors, written mainly in the Cprogramming language. It is intended for use inembedded systems. Its features are: It is a very small real-time kernel. Memory footprint is about 20KB for a fully functional kernel. Source code is written mostly in ANSI C. Highly portable, ROM able, very scalable, preemptive real-time, deterministic, multitasking kernel. It can manage up to 64 tasks (56 user tasks available). It has connectivity with C/GUI and C/FS (GUI and File Systems for C/OS II). It is ported to more than 100 microprocessors and microcontrollers. It is simple to use and simple to implement but very effective compared to the price/performance ratio. It supports all type of processors from 8-bit to 64-bit.Micro C/OS-II is the second generation of a kernel originally published (withsource code) in a two-part 1992 article in Embedded Systems Programmingmagazine and the bookC/OS The Real-Time Kernelby Jean J. Labrosse (ISBN 0-87930-444-8). The author intended at first to simply describe the internals of a portable operating system he had developed for his own use, but later developed the OS as a commercial product.C/OS-II is currently maintained byMicrium Inc.and can be licensed per product or per product line. Use of the operating system is free for educational non-commercial use. Additionally, Micrium provides other middleware software products such as C/CAN, C/FL, C/FS, C/GUI, C/Modbus, C/TCP-IP, C/USB and a large assortment of C/TCP-IP applications such as client software for DHCP, POP3, SNTP, FTP, TFTP, DNS, SMTP, and TTCP. Server software includes HTTP, FTP, and TFTP. PPP is also available.Ports-C/OS-II has ports for most popular processors and boards in the market and is suitable for use insafety criticalembedded systems such as aviation, medical systems and nuclear installations.

4.2. BLOCK DIAGRAM-

Fig 4.2.1 Block Diagram of setup of wireless robotBlock diagram shows the whole setup of the project. This robot is Bluetooth operated; self- powered, and has all the controls like a normal car. A wireless camera has been installed on it, so that it can monitor enemy remotely when required. This robot can silently enter into enemy area and send us all the information through its tiny Camera eyes. A shooting gun mechanism has been mounted on the top of the robot for shooting the enemies. Gripper is used to pick up the bomb and placed it in safe place for the disposal through shooting gun. A temperature module is used to detect the temperature, whether it is increasing or not. A metal detector is used to detect whether the bomb is implanted in the ground on detecting metal it will glow up the LED which should be seen by the camera in the control room. All this controlling of the robot is done by android application.

4.2 CIRCUIT DIAGRAM

Fig 4.2.1 Circuit Diagram of robot

4.3 PROGRAMMINGThe programing of the microcontroller is done on the software mikroC. mikroCPRO for PIC is a full-featured ANSI C compiler for PIC devices from Microchip. It is the best solution for developing code for PIC devices. It features intuitive IDE, powerful compiler withadvanced optimizations, lots of hardware and software libraries, and additional tools that will help you in your work. Compiler comes with comprehensive help file and lots of ready-to-use examples designed to get you started in no time.mikroC is the software that has been designed to program for the PIC family of microcontroller. The programing file has been saved as a hex file. The microcontroller has been burned by the universal programmer in which hex file has been taken as an input file. The hardware implementation should be done according to the programming done in the microcontroller. All the interfacing of all the components has been done on the proteus software. It will help in designing the whole interfacing in the running condition. The circuit schematic has been designed in Xpress PCB. PCB will be fabricated by following the procedural steps of fabrication. PROGRAM-char uart_rd;void main() {TRISB=0;PORTB=0; USART_init(9600); delay_ms(100) ; while (1) { if (USART_Data_Ready()) { uart_rd=USART_Read(); if (uart_rd=='W'){ portb.f0=1; } if (uart_rd=='w'){ portb.f0=0; } if (uart_rd=='U'){ portb.f6=1; portb.f7=0; } if (uart_rd=='u'){ portb.f6=0; portb.f7=1; } if (uart_rd=='F') { portb.f2=1; portb.f3=0; portb.f4=0; portb.f5=1; } if (uart_rd=='B') { portb.f2=0; portb.f3=1; portb.f4=1;

portb.f5=0; } if (uart_rd=='R') { portb.f2=1; portb.f3=0; portb.f4=1; portb.f5=0; } if (uart_rd=='L') { portb.f2=0; portb.f3=1; portb.f4=0; portb.f5=1; } if (uart_rd=='S') { portb.f2=1; portb.f3=1; portb.f4=1; portb.f5=1; portb.f6=1; portb.f7=1; } } } 4.4 WORKINGIn War Field Spy Robot first we will provide the power supply of 5V to the microcontroller unit. Voltage regulator is used for increasing, decreasing the voltage to the microcontroller. Android mobile is used as a transmitter/receiver for control unit. Controlling of the war field is done by the android mobile. Android mobile is interfaced with the microcontroller by a Bluetooth module. All the signals from the transmitter part of mobile will be transmitted to the receiver module that has been mounted on the robot, and will be accessed with a four digit password. Without intervention of the password no one will access the robot. All the audio video information from the wireless camera has been transmitted to the control unit securely and can be seen on the screen in the control room. With the help of controlling device i.e. Android app we can control the movements of robot respectively in forward & backward direction. The shooting gun mechanism is done by the controlling device i.e. android mobile. Whenever any metal has been disposed underground, the metal detector will detect the presence of metal & will glow up the light emitting diode. Gripper is used to pick up the bomb for disposing in the safe place and with the help of laser we will dispose it.4.5 RESULT-At last we designed a robot that is capable of fight in terror attacks to reduce human causalities. It should meet our combatant needs. As we know that human life and time is priceless. So we have taken an initiative to design a robot that should be in position to provide stability to the military.

CHAPTER-5CONCLUSIONS & FUTURE SCOPE5.1 CONCLUSIONAs we all know, these days India is sick off massive terror attacks, bomb explosions at plush resorts. To avoid such disasters Technological power must exceed Human power. Human life and time are priceless. Its our onus to take an initiative to design a model of an apt robot that meets combatant needs. So to avoid terror attacks, to ensure more security at the border and high density areas its wise to maintain a world class military technology in accordance with combatant needs. Even every nation needs its own defense system for their integrity and security. In such a way construction of these robots will carry nations name, fame globally5.2 APPLICATIONS Wireless security and surveillance in hot spots. Search and rescue operation. Maneuvering in hazardous environment. Can be adequately implemented in national defense through military-industrial partnership. Installation of combat robots in the stadiums, sacred places, and government and non-government organizations assures top security. Used in bomb disposal by water bullet, surface depth & edge detection, having night vision lights, metal detection, gas leakage detection, temperature detection.

5.2 FUTURE SCOPEThe use ofrobotsinwarfare, although traditionally a topic forscience fiction, is being researched as a possible future means of fighting wars. Already several military robots have been developed by various armies.Some believe the future of modern warfare will be fought by automated weapons systems.TheU.S. Militaryis investing heavily in research and development

towards testing and deploying increasingly automated systems. The most prominent system currently in use is the unmanned aerial vehicle (IAI Pioneer&RQ-1 Predator) which can be armed withAir-to-ground missilesand remotely operated from a command center in reconnaissance roles.The field of artillery has also seen some promising research with an experimental weapons system named "Dragon Fire II" which automates the loading and ballistics calculations required for accurate predicted fire, providing a 12 second response time tofire supportrequests. However, weapons of warfare have one limitation in becoming fully autonomous: they require human input at certain intervention points to ensure that targets are not within restricted fire areas as defined by Geneva Conventions for thelaws of war.There have been some developments towards developing autonomous fighter jets and bombers. The use of autonomous fighters and bombers to destroy enemy targets is especially promising because of the lack of training required for robotic pilots, autonomous planes are capable of performing maneuvers which could not otherwise be done with human pilots (due to high amount ofG-Force), plane designs do not require a life support system, and a loss of a plane does not mean a loss of a pilot. However, the largest draw back to robotics is their inability to accommodate for non-standard conditions. Advances inartificial intelligencein the near future may help to rectify this. To avoid such disasters Technological power must exceed Human power. Human life and time are priceless. Its our onus to take an initiative to design a model of an apt robot that meets combatant needs. So to avoid terror attacks, to ensure more security at the border and high density areas its wise to maintain a world class military technology in accordance with combatant needs.

CHAPTER-6BIBLIOGRAPHY6.1 REFERENCES[1]. http://en.wikipedia.org/wiki/PIC_microcontroller.[2]. www.microchip.com/downloads/en/devicedoc/35007b.pdf[3]. users.ece.utexas.edu/~valvano/Datasheets/L293d.pdf[4]. www.ti.com/lit/ds/symlink/lm35.pdf[5]. www.ti.com/lit/gpn/lm345[6]. www.electronicaestudio.com/docs/istd016A.pdf[7]. T. S. Rappaport, Wireless Communications: Principles and Practice, Upper Saddle River, NJ: Prentice Hall, 1996 [8]. Sanjeev Gupta, Electronic Devices and Circuits S. Chand Publication, Second Edition[9]. A. P. Malvino Electronic Principals Tata McGraw Hill Publication, Second Edition.[10] .www.electronicaestudio.com/docs/istd016A.pdf

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