1. By
Ankush M.Tayade
Department
Of
Electronics & Telecommunication
Dhamangaon Education Society's
Collage Of Engineering And Technology, Dhamangaon Rly .
2. System Design/ Methodology
The PIC16F873A and PIC16F874A have one-half of the total on-chip
memory of the PIC16F876A and PIC16F877A
The 28-pin devices have three I/O ports, while the 40/44-pin devices
have five
The 28-pin devices have fourteen interrupts, while the 40/44-pin
devices have fifteen
The 28-pin devices have five A/D input channels, while the 40/44-pin
devices have eight
The Parallel Slave Port is implemented only on the 40/44-pin devices.
3. PIC16F877A Pin Dig.
Timer0: 8-bit timer/counter with 8-bit prescaler
Timer1: 16-bit timer/counter with prescaler,
can be incremented during Sleep via external
crystal/clock
Universal Synchronous Asynchronous Receiver
Transmitter (USART/SCI) with 9-bit address
detection
Two Capture, Compare, PWM
modules
- Capture is 16-bit, max. Resolution is
12.5 ns
- Compare is 16-bit, max. Resolution is
200 ns
- PWM max. resolution is 10-bit
Brown-out detection circuitry for Brown-out
Reset (BOR)
4. Block Diagram
Motor Motor Motor
Motor
Driver
RF
RF Module
LM35
Module Tx
Temp.
Rx
Rx Rx
PC
PIC PIC Voltage
Com
Controller Controller Shifter
Port
Tx Tx
RF RF
Signal
MIC/ Monostable Module Module
conditioning Amplifire
Transducer Malty-Vibrator Tx Rx
Circuit
CRYSTAL CRYSTAL
OSC. OSC.
5. LM35 IC
Calibrated directly in Celsius
Linear +10.0mV/c scale factor.
0.5Cel accuracy guarantee able
(at +25 c).
Suitable for remote
application.
Low cost due to water level
trimming.
Operated from 4 to 30 volt.
Less than 60 micro A current
drain.
6. LA3161
On-chip 2 preamplifiers.
Good ripple rejection owing to on-
chip voltage regulator.
Minimum number of external parts
required.
Low noise.
8-pin SIP package facilitating easy
mounting.
Pin-compatible with LA3160.
7. CD40012BC
Low power TTL: Fan out of 2
driving 74L compatibility: or 1
driving 74LS
5V–10V–15V parametric ratings
Symmetrical output characteristics
Maximum input leakage 1 µA at
15V over full temperature range
9. MCT 2E
UL recognized (File # E90700)
VDE recognized (File # 94766)
Add option V for white package (e.g., MCT2V-M)
Add option 300 for black package (e.g., MCT2.300)
–MCT2 and MCT2E are also available in white package by specifying -M
suffix, e.g. MCT2-M
13. Software Description
S AR
T T
Initialize Ports
A
check The receiving
P L E
U S
IF
ONmoto 1st
r
I I
t S "0001"
A
IF
O FM T
F O OR 1st
I I
t S "0010"
A
IF
ONmoto 2nd
r
I I
t S "0011"
A
IF
O Fm
F otor 2nd
I I
t S "0100"
A
IF
ONmoto 3rd
r
I I
t S "0101"
A
IF
O Fm
F otor 3rd
I I
t S "0111"
A
A
14. Application
Earthquake
Military Services
Chemical Factories
15. Advantages
It is a small unmanned fully autonomous and a light weight vehicle
and therefore it can be fielded in narrow passage very easily. As it is fully
autonomous no controlling is required.
Due to its light weight power requirements are less and easy to carry.
Its microcontroller based circuitry makes it simple and compact and
provides more flexibility as in future if any change is required then only
by changing the program its functionalities can be changed.
Although low cost standard processing hardware was chosen, it
performs well and is capable of doing its work efficiently.
It has caterpillar type wheel arrangement. It helps in the movement of
the vehicle in rough terrain. Also its turning radius is very small.
16. Future Scope
First, it would be useful to add a function in
sound detection to detect regular banging.
Indeed, in disaster area, sometimes victims are
banging on wall or on ground because they can’t
shout. Moreover sound propagates itself better in
structure than in the air. So if the robot could be
able to detect regular banging it will have one
more useful function for human detection
17. References
•A. Rogalski, K. Chrzanowski, “Infrared devices and techniques”,
Warsaw, 2002.
•J. Casper “Human-Robot Interactions during the Robot-Assisted Urban
Search And Rescue Response at The World Trade Center”, MS Thesis,
Computer Science and Engineering, USF, South Florida, 2002.
•J. Casper and R. Murphy, "Workflow Study on Human-Robot
Interaction in USAR", ICRA 2002, pp 1997-2003.
•Murphy R, Casper J, Hyams J, Micire M, and Minten B "Mobility and
Sensing Demands in USAR", (invited), IECON 2000, Nagoya, Japan,
2000.
•L. Matthies, Y. Xiong, R. Hogg, “A Portable, Autonomous, Urban
Reconnaissance Robot", The 6th International Conference on Intelligent
Autonomous Systems, Venice, Italy, 2000.
