Fyp Complete Report

FINAL YEAR PROJECT REPORT

MICRO-CONTROLLER BASED EVOKE QUENCHING SYSTEM

B.S. ELECTRONICS ENGINEERING, BATCH 2005

Internal advisor External AdvisorEngr. Mohammad Asif Asst. Professor, EEDSSUET

Submitted by SYED AALAY MOHAMMAD 2005-EE-335SYED AKMAL MUSTAFA 2005-EE-343SYED HABIB HAIDER 2005-EE-316SHABI-UL-HASNAIN 2005-EE-242MIRZA KAMAL BAIG 2005-EE-595

DEPARTMENT OF ELECTRONICS ENGINEERINGSIR SYED UNIVERSITY OF ENGINEERING AND TECHNOLOGY

UNIVERSITY ROAD, KARACHI - 75300


TABLE OF CONTENTS

PREFACEACKNOLEDGEMENTCERTIFICATESYNOPSISLIST OF FIGURES

I II III IV V

CHAPTER 1INTRODUCTION

1.2 Introduction1.3 EQ System & Fire Fighting Robot1.4 Problem Statement1.5 Project Aim And Motivation1.6 System Block Diagram1.7 Report Organization

CHAPTER 2BACKGROUND

2.1 Introduction2.2 Robotic Arm

2.2.1 Rectangular Robot2.2.2 Cylindrical Robot2.2.3 Spherical Arm Robot2.2.4 Selection Compliance Assembly Robot2.2.5 Articulated Robot

2.3 Mobile Robots 2.4 EQ Robots

CHAPTER 3METHODOLOGY PROCEDURE

1.1 Introduction 3.2 Design Phase 3.3 Implementation Phase 3.4 Testing Phase

Sir Syed University Of Engineering And Technology

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CHAPTER 4HARDWARE DESIGN AND FABRICATION

4.1 Mechanical Design4.2 Structural Division4.3 Mechanical Consideration

4.3.1 Material Selection

CHAPTER 5ELECTRONICS COMPONENTS

5.1 Introduction 5.2 Micro-Controller 5.3 Power Supply 5.4 Motor Driving 5.5 Sensors

5.5.1 Infra Red Sensors 5.5.1.1 Infra Red Regions 5.5.2 Light Dependent Resistors (Ldr)

5.5.2.1 Theory Of Operation5.5.2.2 Applications

5.5.3 Smoke Sensors 5.5.4 Temperature Sensors

5.5.4.1 The Advantages Of Rtds 5.5.4.2 Rtd Error Sources

5.6 Limit Switches 5.7 Solenoid Stopper 5.8 Relays 5.9 Power Transistors 5.10 555-Timer 5.11 Max 232 5.12 Camera CHAPTER 6PROJECT FLOW

6.1 Introduction 6.2 Project flow6.3 Basic Process Flow Diagram

6.3.1 Explanation 6.4 Process flow Diagram


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CHAPTER 7SOFTWARE DISCRIPTION

7.1 Introduction 7.2 EQ System Software 7.3 Operator Console Software

CHAPTER 8RESULTS & DISCUSSION

8.1 Introduction 8.2 Results Of The EQ System 8.2.1 Maximum Reach Of The EQ System 8.2.2 Weight Lifting Capability Of The EQ System 8.2.3 The Work Envelop Of The EQ System 8.2.4 Running Time & Range Of The EQ System

CHAPTER 9CONCLUSION AND FUTURE

RECOMMENDATION

9.1 Conclusion 9.2 Application Of Our Project 9.3 Future Recommendation 9.3.1 Digital Image Processing 9.3.2 Web Based Interface 9.3.3 Solar Charging 9.3.4 Change Bale End Effectors

REFERENCES

APPENDIX A (Time and Cost analysis)

APPENDIX B(Theoretical study)

APENDIX C(Data sheets of all major components)


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PREFACE

Communication has become the fastest growing technology in our society today. One feels that a

text should serve not only for the benefit of the reader but also as a pedagogically sound outline

for a course of instruction. A text should be sufficiently clear to enable the reader to understand

the material well by its reading, with a realism that approaches hand-on experience. We also

think that the text should be more comprehensive than the course for which it is used; thus, the

student and engineer can use some material as both a reference source and a source of further

examples and illustration. Finally, we feel that the text should be able to stand alone, with

minimal need of supplement documentation and references. We hope that each student and

instructor finds that all these objectives have met in this text.

The report, micro controller based evoke quenching system, includes complete knowledge of the

project that describes the devices used in the formation and those associated with it. The text also

elaborates the terminologies and factors related to the project.


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ACKNOWLEDGEMENT

With a deep sense and profound gratitude, we take this opportunity to convey our sincere thanks

to almighty Allah for giving us courage and strength to reach this stage of life. We also thank our

parents who gave us great moral support at every step. We also convey thanks to all those who

gave us valuable support to complete this challenging project.

We are highly indebted to respected Prof. Dr. Bilal Alvi, dean faculty of engineering SSUET for

their sincere help and guidance throughout the work. We would like to present our heartily

thanks to Mr. Engr. Mohammad Asif, internal advisor and assistant professor for their untiring

assistance and perpetual guidance throughout the project. Finally yet importantly, we

acknowledge the efforts of our teachers who have been our source of inspiration throughout the

university years and have shared their knowledge and skills with us.


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CERTIFICATE


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SYNOPSIS

Design perfection is an essential demand in any digital designing environment however, its

importance increases even more in the case of Robotics. In the last few decades, microcontrollers

have become the major conquerors of the digital industry and still are so keeping this in our mind

we decided to choose a project that has been based on microcontroller and as it is obvious from

the name of our project A Microcontroller Based Evoke Quenching System.

The idea to took such a project came in our mind as we observe that in a under developed

country like Pakistan it is important that we start manufacture our own local products, this will

not only help us by saving a lot of money in importing machinery from foreign countries but also

help our country as well to raise its economy as well. Unfortunately from the last decades in

Pakistan Fire Fighting Industry is been neglected as every one is well aware of what happened in

Marriot Hotel, because of lack of proper facilities the loss becomes many a times greater than it

has to be.

Therefore, we have designed a proto type of a system that can be implemented on a fire Brigade

and this system can help to put fire out by the single operator sitting on the fire brigade. The

project is aimed to extinguish fire with a lesser risk of causalities. Basically the system is a

Robotic arm mounted on a firm and stationary support in order to provide strong base to the

elevated arm that can move vertically up and down according to the desired height, after

attaining the desired height the arm the elbow will extend in horizontal direction as a result we

will get the cylindrical effort arm and thus this horizontal movement allows us to move the arm

in the corridor or the room where the fire is been put off. This is the basic target but we did stop

here we also connected the wrist that will rotate up to 2700.

As it is very important to consider as many scenarios as possible and we observe that some times

it is not favorable to use water as we observe on the incident in Marriot Hotel that fire even lit up

more by using water so we are we not only use water as the fire extinguishing substance we have

used two substances in addition with water on is a chemical used to extinguish fire and both the

water and chemical tanks will be mounted on the wrist and will be controlled by the operator


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present at the base not only that we are also using a fire extinguishing foam that is been used

commonly used for this purpose.

The system is also provided with a camera that will show real time picture of all the happenings

and it will help the operator to work more efficiently but there is a possibility that due to smoke

the camera fails or some times the smoke is so thick that it is not possible to see though it and it

will become very difficult for the operator to handle the situation therefore we have implemented

a backup system (an array of smoke and fire sensors) that will help the operator to give a clue

where the fire is present and still he can effectively perform his task respite that he can not see.

The sensors are not only provided to detect fire but also to look for walls so there should not be

any collision with the walls that may be dangerous for our system and also for the building as it

may become the reason of building’s collapse, therefore IR sensors are being used so that there

should be no collision with the walls if camera fails.

Moreover, since we had to generate only the idea so the path to ease was followed. We attached

two buzzers in parallel to the end of the elbow so that once a fire is detected the system should be

able to alert the people in close vicinity.

After that in order to make our system more efficient we have also used to a system to control

the pressure of water or the chemical that is being used to extinguish the fire as a result we can

use water and chemical in a very effect way as we have observed that some times it is not

necessary to just burst water with single pressure and a lot of water can be wasted with out

achieving our desired result so variable pressure can provide a new dimension to fire

extinguishing.

Our project is designed in such a way that we tried to consider as many possibilities as possible

and aimed to make our system as flexible as possible and keeping in mind that a lot of necessary

work is need to be done in the field of Fire Fighting Industry specially in Pakistan.


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LIST OF FIGURES

1.1 (a) Fire Fighters (b) Fire Fighting Robot (c) Fire Fighting System

Mobile Based

1.2 System Block Diagram

2.1 Robotic Arms

2.2 Scout Robots

2.3 Fire Fighting Bug

2.4 Anna Konda (Fire Fighting Snake)

2.5 LEGO fire fighting Robot

2.6 Wiimote Fire Fighting Robot

3.1

4

4

4

4

5.1 EQ System Schematic

5.2 Micro-Controller Schematic

5.3 (a) power supply schematic (b) Operator Console Panel Battery

(c) Components Control Battery

5.4 Motor Driving Schematic

5.5 IR Sensors

5.6 Light Dependent Resistors

5.7 Light Dependent Resistor Schematic

5.8 Ionization Smoke Detector

5.9 Photoelectric Smoke Detector

5.10 Temperature Sensor Schematic

5.11 Temperature Sensor

5.12 (a) Limit Switches Schematic (b ) Limit Switches


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5.13 Solenoid Stopper

5.14 (a) Timer Schematic (b) 555 Timer

5.15 (a) Max 232 Schematic (b) Max232 Connector

5.16 CMOS Camera

6.1

6.2

7

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CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

Robotics is the science and technology of robots and their designs, manufacture and their

applications. Robotics comprises of not only the mechanical structure but also the electronics and

software in order to function according to the desired input. Now a days Robotics has become a

very vast and broad field and robots are distinguished in various categories according to there

structure and functions they perform. Robot is defined as a mechanical design that is capable of

performing human tasks or behaving in a human-like manner. Building a robot requires expertise

and complex programming. It’s about building systems and putting together motors, solenoids,

and wires, among other important components. There are a number of subsystems that must be

designed to fit together into an appropriate package suitable for carrying out the robot’s task. A

EQ system is one that has a different types of fire extinguishers, the extinguishers are water,

chemical & foam. By attaching a fire extinguishers to the robot, the EQ system put out the fires it

detects can be achieved.

1.2 EQ SYSTEM AND FIRE FIGHTING ROBOT

Firefighting is an important but dangerous occupation. A firefighter must be able to get to a fire

quickly and safely extinguish the fire, preventing further damage and reduce fatalities as shown

in figure 1.1a. Technology has finally bridged the gap between firefighting and machines

allowing for a more efficient and effective method of firefighting. Robots designed to find a fire,

before it rages out of control, could one-day work with firefighters greatly reducing the risk of

injury to victims.

The EQ system is designed to extinguish the fire; it is a robotic arm that is mounted on the fixed

base (fire brigade), it is a manually controlled system requires one or two users to operate it

through Pc. it uses few sensors and the camera, which is fixed at the end effecter of the system,

uses to detect the fire. It consists of three types of extinguishers that are activated according to Sir Syed University Of Engineering And Technology

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(a) (b)

(c)

Figure 1.1 (a) Fire Fighters (b) Fire Fighting Robot (c) Fire Fighting System Mobile Based


the type of fire detected. It can move vertically up and down, after the desired vertical height the

elbow will extends out horizontally and as a result, robot arm will enter the desired area were the

fire to be put off. The wrist of robots arm can rotate up to 2700, which make the system more

flexible.


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1.3 PROBLEM STATEMENT

With the use of modern technology, the risk of human life has been minimized quite

considerably. The threats to human life which arise from working or coming into contact with

hazardous material or hazardous areas are the center of attention for mostly all the robots.

The threats of fire are so common that it can happen anytime or anywhere, from children’s

school to a government building. The fire is significant thereat to a public at a large and

especially to those groups of peoples, which tackles these threats. These groups of people are

known as fire fighters or fire extinguishing squad. The main problem faced by the fire fighters is

to extinguish the fire in those areas where it is impossible to enter, without risking there lives.

1.3 PROJECT AIM AND MOTIVATION

We have seen many documentaries in order to observe the problems faced by the fire fighter

during these difficult conditions and as the prime object of a fire fighter are to minimize the risk

of casualties and to reduce damage that have to be suffered by the building on fire. In this regard

the most difficult part is to enter in the rooms to extinguish fire and save the people being

trapped there so we thought to construct a manually controlled robot that can easily extinguish

the fire from outside the building and when the conditions lesser dangerous the people trapped

can be easily saved and fire can be put off much easily and also risk of casualties and damage to

the building can be minimized as well.

As in resent times we have seen the sorry incident occurred in Marriot Hotel is the latest example

which provoked us to choose such a project as our project’s aim is to construct such a system

that can help and provide aid in fire extinguishing, it was clearly observed that in that particular

incident if there were proper facilities available the lose would have been much lesser as

compared to that actually the building did suffered after the fire broke and therefore keeping that

incident in the mind we have tried to build a controller based Evoke Quenching System that will

not only aid to put the fire out quickly but also it will reduce the risk of casualties. Sir Syed University Of Engineering And Technology

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The objective of this project is to design and implement an EQ system that capable of

extinguishing the fire by minimizing the risk of causalities, the system also extinguishes the fire

in those areas where it is impossible for the human to enter or resists the harsh environments.


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1.5 SYSTEM BLOCK DIAGRAM

Figure shows the complete block diagram of the EQ system. The EQ system is based on

Microcontroller and various sensors and actuator system. The system detects fire using the

sensor and then the different types of EQs are activated according to the fire type.

Figure 1.2 System Block Diagram


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1.6 REPORT ORGANIZATION:

This report is organized as follow,

Chapter 2 provides an overview on background of the system; different types of robotics arms

are discussed.

Chapter 3 describes the proposed steps for object detection in real time. Methodology and

design, testing, implementation phases are then discussed.

Chapter 4 will give an emphasis on the hardware setup used in the vision guided robotic system.

Chapter 5 provides an overview on electric components used in the EQ system. Different types

of sensors, switches, motors, controller are discussed.

Chapter 6 describes the complete process flow of the system.

Chapter 7 provides an over view on the software’s used in the system.

Chapter 8 includes the schematics’ of the complete EQ system.

Chapter 9 gives an over view on the conclusion and the future recommendation of the EQ

system.


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CHAPTER 2

BACKGROUND

2.1 INTRODUCTION:

It can be said that tomorrow will be the era of robots. Many countries are making Human

Controlled Robot or Autonomous Robot by embedding artificial intelligence into them to reduce

workers/labors. The formulation of the automatic robot is an area of interest for various

engineering organizations.

Since every profession has its own importance and so is the importance of fire fighters and every

life is important and element of risk in this profession is much greater than other professions and

since it is important to extinguish fire as soon as possible before damage becomes so great, as we

know that short circuits and especially in industries fire extinguishers are available but some

times it is not possible to extinguish the fire or it increases so rapidly that it can not be controlled

so here we have tried to build a robot that can help to put the fire out with the help of a single

operator.

As it is mentioned earlier that a lot of work is being done on the Fire Fighting Robots but as we

came across all these robots we find that most of these were very limited in use and most of them

were just made for competitions and can not be build to use in practical scenarios and we thought

to build a proto type that may become the future.

2.2 ROBOTIC ARM:

After a brief overview of types of robots we will like to discuss the structure of robots as there

are many different structures of a robot can be made in order to perform a single or a same task

and we are trying to give a concept of how a robotic arm works, the reason is that our project’s

theme is based on it.


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In the early robots the hand and arms were pneumatically powered (air pressure) or hydraulically

powered (fluid pressure). Flexible tubes carried the pressurized substances to the joints. Now,

electrical motors located at the joint give the robot greater precision and control, but slow down

its movements.

There are five types of robot arms that are used today as shown in figure 2.1. Degrees of freedom

are the axes around which it is free to move. The area a robot arm can reach is its work envelope

and on the basses of this work envelop these robots are divided and are as follow.

Figure 2.1 Robotic Arms


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2.2.1 RECTANGULAR ROBOT:

Rectangular arms are sometimes called "Cartesian" because the arm´s axes can be described by

using the X, Y, and Z coordinate system. It is claimed that the Cartesian design will produce the

most accurate movements.

2.2.2 CYLINDRICAL ROBOT:

A cylindrical arm also has three degrees of freedom, but it moves linearly only along the Y and

Z-axes. Its third degree of freedom is the rotation at its base around the two axes. The work

envelope is in the shape of a cylinder.

2.2.3 SPHERICAL ARM ROBOT:

The spherical arm, also known as polar coordinate robot arm, has one sliding motion and two

rotational, around the vertical post and around a shoulder joint. The spherical arm's work

envelope is a partial sphere, which has various length radii.

2.2.4 SELECTION COMPLIANCE ASSEMBLY ROBOT:

The SCARA (Selection Compliance Assembly Robot Arm) is also known as a horizontal

articulated arm robot. Some SCARA robots rotate about all three axes, and some have sliding

motion along one axis in combination with rotation about another.

2.2.5 ARTICULATED ROBOT:

The last and most used design is the jointed-arm., also known as an articulated robot arm. The

arm has a trunk, shoulder, upper arm, forearm, and wrist. All joints in the arm can rotate,

creating six degrees of freedom. Three are the X, Y, and Z-axes. The other three are pitch, yaw,

and roll. Pitch is when you move your wrist up and down. Yaw is when you move your hand left

and right. Rotate your entire forearm, this motion is called roll.


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2.3 MOBILE ROBOT

Mobile robots have the capability to move around their environment and are not fixed to one

physical location. In contrast, industrial robots usually consists of a joined arm and gripper

assembly that is attached to a fixed surface. Mobile robots are the focus of a great deal of current

research. Mobile robots are also found in industry, military and security environments. They also

appear as consumer products for entertainment or to perform certain tasks like vacuum cleaning

or mowing.

One of the most famous robots was named as the scout mobile robot. This was developed to test

the agility and functionality of the suspension system over rough and uneven terrain. The

suspension is the free-floating fully articulated six-wheeled system. This suspension

configuration allows all six-wheels to maintain contact with the ground as it travels over any

type of surface in encounters. The drive motors for this vehicle are located in each individual

wheel, thus allowing for a much more compact vehicle and more space for different payload

packages. The dark area in the vehicle mid section is the design payload bay, which could house

instruments, micro-controller or cameras.

Figure 2.2 Scout Robots


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2.4 EQ ROBOTS

The EQ robots are extensively used by the fire fighting squad, these robots are used by several

others multinational companies or industries such as oil, gas, chemical etc. EQ robots have the

capability to search the fire in various areas and extinguish the fire. There are several types of

EQ robots some of them are discussed below:

The figure shows a german EQ robot named fire-fighting bug. Shifting through the mossy

undergrowth of Germany’s Black Forest, antennae raised and leg joints quietly clicking forward,

OLE (pronounced “oh-luh”) is a St. Bernard–size bug on the prowl.

A robot equipped with tanks of water and powdered fire-extinguishing agents, it would be

autonomous and guided by GPS, intelligent feelers, and infrared and heat sensors. Designed by

professor Ulrich Wohlgemuth, along with biologist and robot-systems manager Oliver Lange.

That armor is fireproof suit. The six legs have a similar protective purpose. The concept behind

is that he’s digging, and he’s near heat. Legs don’t always have contact with heat.” In addition,

from a roboticist’s perspective, six legs is the perfect number, providing stability and making it

easy to calculate movement points.

The designers have suggested two different ways for OLE to do its job. One idea is to place the

robots in potential hotspots near towns and campgrounds, where they would remain balled-up,

waiting for their sensors to pick up fire within a half-mile radius. Another idea is for the ’bot to

patrol the woods, actively searching for blazes, although battery life and forest obstacles would

limit its range.


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Figure 2.3 Fire Fighting Bug

Anna Konda was developed in order to demonstrate the Snake Fighter concept. The robot is to

our knowledge the biggest and strongest snake robot in the world and the first water hydraulic

snake robot ever constructed.

The joints in Anna Konda are moved by a total of 20 water hydraulic cylinders. The cylinders

were custom-built in order to make them as compact as possible. They can handle a system

pressure of 100 bar (1450 PSI). Each joint module in Anna Konda is equipped with two water

hydraulic valves in order to control the pressure applied to the two cylinders in the joint module.

The limited availability of compact water hydraulic valves in the market today forced us to

custom-build these valves. The two valves for each joint module are integrated in a single valve

block in order to save space. Anna Konda has a steel skeleton. The parts were designed based on

strength calculations that were performed to ensure that the hydraulic actuation forces would not

destroy the robot. The robot is covered by skin plates in order to give the robot a smooth exterior

surface and to protect internal components. Contact force sensors are mounted beneath the skin

plates to allow the robot to sense external contact forces along the snake body. Anna Konda is

equipped with nozzles in the front that enable the robot to spray water and thereby demonstrate

the fire fighting application.


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Figure 2.4 Anna Konda (Fire Fighting Snake)

The LEGO firefighting robot, able to identify a candle flame and put the flame out. The medium

of the robot are LEGOS and use the LEGO MINDSTORMS NXT robotics kit to control the

robot. The NXT kit comes with a computer processor specially designed to interface with LEGO

sensors and motors. The robot also includes an I²C Camera provided by Mindsensors.com.

Figure 2.5 LEGO fire fighting Robot


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http://www.sintef.no/upload/IKT/9023/Prosjekter/Slangeroboter/Anna%20Konda%20med%20hud%20forfra%20(HiRes).jpg


The Wiimote makes a perfect control system for a fire fighting robot. It has IR sensors which can

detect a candle and a bluetooth transciever to communicate back to a host computer. I use a

boebot as the robot platform, an arduino, wiimote and a Linux computer.

The wiimote uses its IR sensor to find the candle. It transmits the sensor readings back to the

host computer over bluetooth. A C program running on the host computer reads the sensor data

and sends commands back over bluetooth to the wiimote. The wiimote relays those commands to

an arduino board over the wiimote's expansion port. The expansion ports uses the I2C protocol.

The arduino then controls the servos and fan. The fan is controlled by a ULN8023 chip.

This fire fighting robot is still very crude. It lacks the number of sensors that you would be need

to seriously compete. It is mainly a proof of concept that the wiimote can be used in a fire

fighting robot. It basically just circles around until it sees a candle, then turns on the fan and

moves toward the candle. The wiimote seems to loose the flame when it gets withing 4 inches.

Maybe the candle is overloading the sensors or maybe its just bad programming on my part.

Figure 2.6 Wiimote Fire Fighting Robot


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http://www.parallax.com/html_pages/robotics/boebot/boebot.asp


Conclusion


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CHAPTER 3

SYSTEM METHODOLOGY

3.1 INTRODUCTION

Our methodology depends upon the electrical and mechanical setup. Since it has to meet the

requirements of practical implementation and has to be very flexible in order to meet the

different sceneries and conditions. The mechanical part consists of several motors to rotate the

arm the elbow and the wrist in the desired direction and also it has to react and response quickly

since it is of the prime objective. The electronic part composed of sensors and controller in order

to give the right instructions to the bout to act accordingly.

Add picture (Flow chart)

3.1.1 DESIGN PHASE

Our design includes a mechanical setup, It a machine which have to act accordingly in difficult

conditions and a lot of problems may occur so in this situation we have to design a robot with

keeping many possibilities that can happen and our robot to function properly in these

possibilities as best as possible. It can perform tasks which can be controlled through a PC

therefore we require a single operator and this is yet another feature of our project. Our project is

controller based which provides the complete controlling and assessment of our various tasks.


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3.1.2 IMPLEMENTATION PHASE

The mechanical and electrical setup consists of a fixed support in with a motor connected to a

rod to move it vertically and some for the horizontal rod forming the elbow and the wrist as well

that can rotate up to 270 0 along with the water buster that can bust water on the fire in different

ways as most suitable in the given scenario. A camera is mounted on the wrist in order to get real

time pictures to aid the robot and also fire sensors will also be used as it is a possibility that a

there might be a lot of smoke and we might not be able to see through it and a software will be

designed on visual basic so that it helps us to operate our bout properly.

3.1.3 TESTING PHASE

This is the most important phase of our project. It is important for any machine that if it is not

working properly than it can indicate as quickly as possible otherwise it might cause a lot of

damage to not only the machine itself but also a lot of money may be lost and as it is very

important that our robot can function properly because we are going to implement this bout in a

life saving scenario and so it has to be tested for as many conditions as possible and we it will

keep improving as new challenges will be faced by this robots but for the time being if our

camera is not working properly or being damaged by the fire we have used fire and smoke

sensing devices to put the fire off and no time will be wasted and this is yet another feature of

our project as well.

3.2 CONCLUSION

In this chapter, the methodology of the EQ system is presented. The system was implemented and in three

phases and discussed briefly. The hardware and software design of the developed EQ system will be

presented in later chapters.


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CHAPTER 4

SYSTEM MECHANICAL DESIGN

4.1 INTRODUCTION

The main feature in the mechanical design is to construct such a structure, which is capable of

carrying in itself the entire circuitry, driving mechanism, power source. It should be stable at the

same time and should be strong enough to serve our purpose.

4.2 STRUCTURAL DESIGN

The structure of the robot is divided into different sections based on the requirements. The details

of these sections are as follows:

Starting from the base, it is strong and heavy metallic base so that it provides strong

support to the system during the extension of arm.

Next is the arm that is further divided as follow:

o The arm can extend vertically up and down according to the desired height.

o For horizontal extension elbow is provided with 1800 rotation that will add to its

flexibility.

o The wrist is also provided with the rotation of 2700, which makes it more dynamic

and the wrist is provided with the water and chemical busters.


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4.3 MECHANICAL CONSIDERATION

The importance of Mechanical Aspects within a system can never be denied as they so very often

determine the final Outcome and Overall Performance of the system and in our case, it is a very

important aspect because there are a lot of things are to be considered so make our system not

only fusible but also successful.

4.3.1 MATERIAL SELECTION

Perhaps the most important consideration was the type of the material to be chosen for the

system. In order to make our system practically fusible we require such a material that should be

light weight but also strong enough to hold the system together and a very strong base so that it

can provide support to the system, it can work very effectively.


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CHAPTER 5

SYSTEM ELECTRICAL HARDWARE

5.1 INTRODUCTION

The system electrical hardware uses various sensors and actuator to sense the fire and control the

pressure of the extinguishers. The whole system is controlled using the microcontroller. The

whole system is operated through PC. The camera is also connected to the PC. The figure below

is the complete schematic figure of the system. It includes the motor driving schematic, different

sensors schematics, limit switches schematic, timer schematic, max 232 schematic and micro-

controller schematic.

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412

+1 2 V

+1 2 V

F ire -2

+1 2 V

OPTIONAL SENSORS

+5 V

L L -5

R 1 11 0 k / 0 W 2 5

S W 1

1 2

1 0 3

1 0 0 K

S W 2

1 2

LIMIT SWITCHES

+1 2 V

-

+

U 1 4 AL M 3 3 9

7

61

312

L L -2

I R -1

I R -4

U 2

L M 7 8 0 5

1 3

2

I N O U T

GN

D

R e la y -1 2

D 1 0

1 N 4 0 0 7

+1 2 V

R e la y -1

U 7

P C 8 1 7

1

2

4

3

L L -4

TE M P

L S 3

R E L A Y S P D T

35

412

L L -6

+1 2 V

R XD

R 1 5

1 0 0

J 8

123

1 0 u f

F ire -2

1 0 u f

+5 V

R e la y -5

4 K 7

R 1 31 K R / 0 W 2 5

U 6

L M 5 5 5

3

4 81

5

2

6

7

O U T

RS

TV

CC

GN

D C V

TR G

TH R

D S C H G

1 0 3

R 1

V R 5 0 0 K

+5 V

TXD

+1 2 V

C 9 4 5

+1 2 V

TE M P

L L -1

R 1 21 K R / 0 W 2 5

1 0 0 K

P 1

To PC

5

9

4

8

3

7

2

6

1

L L -6

I K

R 1 21 K R / 0 W 2 5

D 1 0

1 N 4 0 0 7

Q 5C 9 4 5

Q 5C 9 4 5

3 0 P F

+5 V

+5 V

2 2 0 R

+1 2 V

+5 V

+1 0 0 0 u f 2 5 V

+5 V

L M 3 51

V S +V O U T

GN

D

S W 4

1 2

L L -3

+5 V

I N P -1

1 0 K

R e la y -2

R e la y 1 t o 1 5

R e la y -1 1

I R -3

4 K 7

R e la y -3

I N P -1

L L -3

J 2

AC 1 2 V

12

4 K 7

+1 2 V

L L -5S W 3

1 2

R e la y -8

D 9L E D

+1 2 V

R e la y -1 4

4K7

1 1 . 0 5 9 2

R XD

+1 2 V

SENSOR-1

+1 2 V

R 1 31 K R / 0 W 2 5

R e la y 1 6

1 0 u f

1 0 u f

-

+

U 1 4 BL M 3 3 9

5

42

312

R e la y -1 5

LDR

I K

A T8 9 C 5 1

91 8

1 9

20

2 9

3 0

3140

12345678

2 12 22 32 42 52 62 72 8

1 01 11 21 31 41 51 61 7

3 93 83 73 63 53 43 33 2

R S TXTA L 2

XTA L 1

GN

D

P S E N

A L E / P R O G

EA

/VP

PV

CC

P 1 . 0 / T2P 1 . 1 / T2 -E XP 1 . 2P 1 . 3P 1 . 4P 1 . 5P 1 . 6P 1 . 7

P 2 . 0 / A 8P 2 . 1 / A 9

P 2 . 2 / A 1 0P 2 . 3 / A 1 1P 2 . 4 / A 1 2P 2 . 5 / A 1 3P 2 . 6 / A 1 4P 2 . 7 / A 1 5

P 3 . 0 / R XDP 3 . 1 / TXD

P 3 . 2 / I N TOP 3 . 3 / I N T1

P 3 . 4 / TOP 3 . 5 / T1

P 3 . 6 / W RP 3 . 7 / R D

P 0 . 0 / A D 0P 0 . 1 / A D 1P 0 . 2 / A D 2P 0 . 3 / A D 3P 0 . 4 / A D 4P 0 . 5 / A D 5P 0 . 6 / A D 6P 0 . 7 / A D 7

I R -T

1 0 K

J 6

123

1 0 K

F ire -2

1 0 u f

S W 6

1 2

+1 2 V

+1 2 VR 1 21 K R / 0 W 2 5

R e la y -9

L L -1

Relays for Motors

R 1 5

1 0 0

I R -T

4 K 7

1 0 0 K

4 K 7

+5 V

1 0 3I K

V R 2 0 K

Q 7C 9 4 5

L M 3 51

V S +V O U T

GN

D

R e la y -1 3

R e la y -6

I R -1

6 K 8


33


Figure 5.1 EQ System Schematic

The individual electrical components of the system are briefly discussed below:

5.2 MICROCONTROLLER

A microcontroller is a computer on a chip, or a single-chip computer. MICRO suggests that the

devise is small, and controller tells you that the device might be used to control objects,

processes, or events. Another term to describe a microcontroller is EMBEDDED

CONTROLLER, because the microcontroller and its support circuits are often built into or

embedded in, the devices they control. We have used the AT89S51 microcontroller in our robot.

Microcontroller performs Interfacing & overall control of the system.

L L -6

R XD

F ire -2

I R -1

R e la y -5

+5 V

3 0 P F

+5 V

L L -3

R e la y -2

R e la y -1 1

I R -3R e la y -3

I N P -1

L L -5

R e la y -8

R e la y -1 4

1 1 . 0 5 9 2

4K7

1 0 u f

A T8 9 C 5 1

91 8

1 9

20

2 9

3 0

31

40

12345678

2 12 22 32 42 52 62 72 8

1 01 11 21 31 41 51 61 7

3 93 83 73 63 53 43 33 2

R S TXTA L 2

XTA L 1

GN

D

P S E N

A L E / P R O G

EA

/VP

PV

CC

P 1 . 0 / T2P 1 . 1 / T2 -E XP 1 . 2P 1 . 3P 1 . 4P 1 . 5P 1 . 6P 1 . 7

P 2 . 0 / A 8P 2 . 1 / A 9

P 2 . 2 / A 1 0P 2 . 3 / A 1 1P 2 . 4 / A 1 2P 2 . 5 / A 1 3P 2 . 6 / A 1 4P 2 . 7 / A 1 5

P 3 . 0 / R XDP 3 . 1 / TXD

P 3 . 2 / I N TOP 3 . 3 / I N T1

P 3 . 4 / TOP 3 . 5 / T1

P 3 . 6 / W RP 3 . 7 / R D

P 0 . 0 / A D 0P 0 . 1 / A D 1P 0 . 2 / A D 2P 0 . 3 / A D 3P 0 . 4 / A D 4P 0 . 5 / A D 5P 0 . 6 / A D 6P 0 . 7 / A D 7

R e la y -1 5

1 0 K

L L -1

R e la y -9

R e la y -1 3

R e la y -6

R e la y -1 0

I R -1

R e la y -4

+5 V

TXD

F ire -1

R e la y -7L L -4

R e la y -1 6

L L -2

R e la y -1 2

I R -4

R e la y -1

TE M P

Figure 5.2 Micro-Controller Schematic


34



35


5.3 POWER SUPPLY

Rechargeable 12v, 5v batteries were the power supply of choice for the EQ system. This gives

the running time of approximately two hours. They are capable of providing 35 ampere and 7

ampere of current per hour each. The rechargeable batteries provide clean, reliable power and

allowed reuse of the batteries when depleted. The selection between different types of batteries

was made based on size and power requirements. Power supply provides biasing to the different

components of the system and activates the sensors, motors.

+1 0 0 0 u f 2 5 V

J 2

AC 1 2 V

12

+1 2 V +5 V-

+

B R I D G E

1

4

3

2U 2

L M 7 8 0 5

1 3

2

I N O U T

GN

D

(a)

(b) (c)

Figure 5.3 (a) power supply schematic (b) Operator Console Panel Battery

(c) Components Control Battery


36


5.4 MOTOR DRIVING

Motor is a device that converts electrical energy into mechanical energy. Its principle is because

when a current carrying conductor is placed in a magnetic field, it experiences a mechanical

force whose direction is given by Fleming’s Left Hand Rule and magnitude by F = B I L

Now the motors that we have used in our Robot are six volt DC Motors. Four motors have been

used. Two for driving the Robot and the other two are used in Fire Fighting. The drive motors

are two geared DC motors, with a max speed of 500 RPM at 7.2 volts.Using 5.5 cm diameter

wheels, this translates to a max speed of about 57 cm/s. The robot is operated at less than max

speed.

+1 2 V

L S 3

R E L A Y S P D T

35

412

D 1 0

1 N 4 0 0 7

J 8

123

+5 V

R 1 31 K R / 0 W 2 5

Q 5C 9 4 5

+1 2 V

R e la y 1 t o 1 5

D 9L E D

R 1 21 K R / 0 W 2 5

R 1 5

1 0 0

4 K 7

Q 7C 9 4 5

Figure 5.4 Motor Driving Schematic

5.5 SENSORS

The different types of sensors are used in the project, that are discussed below:

5.5.1 INFRARED SENSORS

Infrared sensor is a device that picks up radiation in the infrared band and is used extensively for

still and video night vision cameras. Infrared (IR) radiation is electromagnetic radiation of a

wavelength longer than that of visible light, but shorter than that of microwaves. The name

means "below red" (from the Latin infra, "below"), red being the color of visible light with the


37


longest wavelength. Infrared radiation has wavelengths between about 750 nm and 1 mm,

spanning five orders of magnitude. Humans at normal body temperature can radiate at a

wavelength of 10 microns.

Infrared imaging is used extensively for both military and civilian purposes. Military

applications include target acquisition, surveillance, and night vision, homing and tracking. Non-

military uses include thermal efficiency analysis, remote temperature sensing, short-ranged

wireless communication, spectroscopy, and weather forecasting. Infrared astronomy uses sensor-

equipped telescopes to penetrate dusty regions of space, such as molecular clouds; detect objects

such as planets, and to view highly red-shifted objects from the early days of the universe.

At the atomic level, infrared energy elicits vibration modes in a molecule through a change in the

dipole moment, making it a useful frequency range for study of these energy states. Infrared

spectroscopy examines absorption and transmission of photons in the infrared energy range,

based on their frequency and intensity.

Figure 5.5 IR Sensors

5.5.1.1 INFRARED REGIONS

Objects generally emit infrared radiation across a spectrum of wavelengths, but only a specific

region of the spectrum is of interest because sensors are usually designed only to collect

radiation within a specific bandwidth. As a result, the infrared band is often subdivided into

smaller sections.

The International Commission on Illumination (CIE) recommended the division of optical

radiation into the following three bands:


38


IR-A: 700 nm–1400 nm

IR-B: 1400 nm–3000 nm

IR-C: 3000 nm–1 mm

A commonly used sub-division scheme is:

Near infrared: 0.75-1.4 µm in wavelength, defined by the water absorption, and

commonly used in fiber optic telecommunication because of low attenuation losses in the

SiO2 glass silica medium. Image intensifiers are sensitive to this area of the spectrum.

Examples include night vision devices such as night vision goggles.

Short-wavelength infrared: 1.4-3 µm, water absorption increases significantly at

1,450 nm. The 1,530 to 1,560 nm range is the dominant spectral region for long-

Distance telecommunications

Mid-wavelength infrared also called intermediate infrared (IIR): 3-8 µm. In guided

missile technology the 3-5 µm portion of this band is the atmospheric window in which

the homing heads of passive IR 'heat seeking' missiles are designed to work, homing on

to the IR signature of the target aircraft, typically the jet engine exhaust plume.

Long-wavelength infrared: 8–15 µm. This is the "thermal imaging" region, in which

sensors can obtain a completely passive picture of the outside world based on thermal

emissions only and requiring no external light or thermal source such as the sun, moon or

infrared illuminator. Forward-looking infrared systems use this area of the spectrum.

Sometimes also called the "far infrared."

Far infrared (FIR): 15-1,000 µm

5.5.2 LIGHT DEPENDENT RESISTOR (LDR)

A Light Dependent Resistor (LDR) is shown in figure. It is an electronic component whose resistance

decreases with increasing incident light intensity. It can also be referred to as photoconductor.


39


Figure 5.6 Light Dependent Resistors

5.5.2.1 THEORY OF OPERATION

LDR is made of a high resistance semiconductor. If light falling on the device is of high enough

frequency, photons absorbed by the semiconductor give bound electrons enough energy to jump

into the conduction band. The resulting free electron conducts electricity, thereby lowering

resistance.

A photoelectric device can be either intrinsic or extrinsic. An intrinsic semiconductor has its own

charge carriers and is not an efficient semiconductor, e.g. Silicon. In intrinsic devices, the only

available electrons are in the valence band, and hence the photon must have enough energy to

excite the electron across the entire band gap. Extrinsic devices have impurities added, which

have a ground state energy closer to the conduction band; since the electrons don't have as far to

jump, lower energy photons (i.e. longer wavelengths and lower frequencies) are sufficient to

trigger.

The device. If a sample of silicon has some of its atoms replaced by phosphorus atoms

(impurities), there will be extra electrons available for conduction. This is an example of an

extrinsic semiconductor.

4 K 7

+1 2 V+1 2 V

+5 V

1 0 K

4 K 7

+1 2 V

-

+

U 1 4 BL M 3 3 9

5

42

31

2

LDR 1 0 K

F ire -2

1 0 0 K

+5 V

+1 2 V

LDR

1 0 0 K

+1 2 V

F ire -2-

+

U 1 4 AL M 3 3 9

7

61

31

2

+ 1 2 V


40


Figure 5.7 Light Dependent Resistor Schematic

5.5.2.2 APPLICATIONS

LDR come in many different types. Inexpensive cadmium sulfide cells can be found in many

consumer items such as camera light meters, clock radios, security alarms, streetlights and

outdoor clocks. They are also used in some dynamic compressors together with a small

incandescent lamp or light emitting diode to control gain reduction.

Lead sulfide- and indium antimonite-LDR are used for the mid infrared spectral region.

At the other ends of the scale, Ge: Cu photoconductors are among the best far-infrared detectors

available, and are used for infrared astronomy and infrared spectroscopy. Continues power

dissipation is 80mW and the Maximum voltage, which can be applied to its 100V.

5.5.3 SMOKE SENSORS

There are two types of smoke detectors common to today\’s normal household: ionization and

photoelectric smoke detectors. These smoke detectors are both used to detect fire, but not the

same type of fire. Photoelectric Smoke Detectors are faster in detecting smoldering fires, while

Ionization Smoke Detectors are better at detecting flaming fires due to their ability to detect

smaller particles. There is a slight defect in these methods of detecting fire; high humidity or

steam can also cause an alarm to go off.

Ionization Smoke Detectors An Ionization Smoke Detector has two key parts: the ionization

chamber, and a source of radiation. This source of radiation consists of a very minute

concentration of Americium-241, which produce alpha particles. The Ionization Chamber

contains two plates: one plate is negatively charged, and the other is positively charged. The

alpha particles created by the Americium-241 move at very high speeds and bump into oxygen

and nitrogen molecules within the ionization chamber. The force exerted by this collision causes

electrons to fall off from each molecule, creating an ion. The now positively charged ions are

attracted to the negatively charged plate while the electrons attracted to the positively charged

plate. This attraction causes a consistent electrical current within the chamber itself. When


41


smoke travels into the chamber, its particles attach to the ionized molecules to neutralize them

and pull them away from the plate. This disrupts the electrical current and triggers the alarm.

Figure 5.8 Ionization Smoke Detector

Many questions about public safety have arisen due to the radiation content within these

detectors; however, there is not enough alpha radiation within the chambers to cause any serious

damage. In fact, the content within the chambers of this type of radiation is so weak that the

surrounding air particles are able to smother any toxicity secreted. Still one is always cautioned

to never directly inhale this substance.

The Photoelectric Smoke Detector is less common and more expensive than the Ionization

Smoke Detector. It consists of a chamber in the shape of a capital letter "T." The horizontal

portion of this chamber consists of a light source called a Light Emitting Code. This beam of

light travels across this horizontal bar, but never sends light vertically. At the base of the "T," is a

photocell, which senses light from darkness. When smoke enters this "T" chamber, light from the

beam is broken up and is scattered away from its straight beam. When a certain level of light

reaches the photocell, which is usually in darkness, the alarm is initiated.


42

http://dopamine.chem.umn.edu/chempedia/index.php/Image:Smokedetectors.GIF

http://dopamine.chem.umn.edu/chempedia/index.php/Image:Smokedetectors2.GIF


Figure 5.9 Photoelectric Smoke Detector

Both ionization and photoelectric detectors are effective smoke sensors. Both types of smoke

detectors must pass the same test to be certified as UL smoke detectors. Ionization detectors

respond more quickly to flaming fires with smaller combustion particles; photoelectric detectors

respond more quickly to smoldering fires. In either type of detector, steam or high humidity can

lead to condensation on the circuit board and sensor, causing the alarm to sound. Ionization

detectors are less expensive than photoelectric detectors, but some users purposely disable them

because they are more likely to sound an alarm from normal cooking due to their sensitivity to

minute smoke particles. However, ionization detectors have a degree of built-in security not

inherent to photoelectric detectors. When the battery starts to fail in an ionization detector, the

ion current falls and the alarm sounds, warning that it is time to change the battery before the

detector becomes ineffective. Back-up batteries may be used for photoelectric detectors.

5.5.4 TEMPERATURE SENSORS

Temperature Detectors or RTDs for short, are wire wound and thin film devices that measure

temperature because of the physical principle of the positive temperature coefficient of electrical

resistance of metals. The hotter they become, the larger or higher the value of their electrical

resistance. They, in the case of Platinum known variously as PRTs and PRT100s, are the most

popular RTD type, nearly linear over a wide range of temperatures and some small enough to

have response times of a fraction of a second. They are among the most precise temperature

sensors available with resolution and measurement uncertainties or ±0.1 °C or better possible in

special designs.

Usually they are provided encapsulated in probes for temperature sensing and measurement with

an external indicator, controller or transmitter, or enclosed inside other devices where they

measure temperature as a part of the device's function, such as a temperature controller or

precision thermostat.


43


R 1 5

1 0 0

1 0 3

R 1 21 K R / 0 W 2 5

TE M P

1 0 0 K

Q 5C 9 4 5

D 1 0

1 N 4 0 0 7

+5 V

L M 3 51

V S +V O U T

GND

+ 5 V4 K 7

+1 2 V

R 1 31 K R / 0 W 2 5

R e la y 1 6

+1 2 V

V R 2 0 K

L M 3 51

V S +V O U T

GND

6 K 8

Q 7C 9 4 5

D 9L E D

U 1 6

L M 3 3 1

84

7 5

2

1

3

6

VSGN

D

I N R / C

R E F

I O U T

F O U T

TH R S

1 u f

+5 V

1 0 3

1 0 0 K

+1 2 V

L S 3

R E L A Y S P D T

35

412

Figure 5.10 Temperature Sensor Schematic

5.5.4.1 THE ADVANTAGES OF RTDS

The advantages of RTDs include stable output for long period of time, ease of recalibration and

accurate readings over relatively narrow temperature spans. Their disadvantages, compared to

the thermocouples, are smaller overall temperature range, higher initial cost and less rugged in

high vibration environments.

They are active devices requiring an electrical current to produce a voltage drop across the

sensor that can be then measured by a calibrated read-out device.

5.5.4.2 RTD ERROR SOURCES

The lead wires used to connect the RTD to readout can contribute to their measurement error,

especially when there are long lead lengths involved, as often happens in remote temperature

measurement locations. Those calculations are straightforward and there exist 3-wire and 4-wire

designs to help minimize or limit such errors, when needed.

Often the lead error can be minimized through use of a temperature transmitter mounted close to

the RTD. Transmitters convert the resistance measurement to an analog current or serial digital

signal that can be sent long distances by wire or rf to a data acquisition or control system and/or

indicator. RTDs, as mentioned above, work in a relatively small temperature domain, compared


44


to thermocouples, typically from about -200 °C to a practical maximum of about 650 to 700 °C.

Some makers claim wider ranges and some construction designs are limited to only a small

portion of the usual range.

Figure 5.11 Temperature Sensor

5.6 LIMIT SWITCHES

Limit switches provide physical contact between a target object and switch activator to make the

contacts change state.

A mechanical limit switch interlocks a mechanical motion or position with an electrical circuit.

A good starting point for limit-switch selection is contact arrangement. The most common limit

switch is the single-pole contact block with one NO and one NC set of contacts; however, limit

switches are available with up to four poles.

Limit switches also are available with time-delayed contact transfer. This type is useful in

detecting jams that cause the limit switch to remain actuated beyond a predetermined time

interval.

Other limit switch contact arrangements include neutral-position and two-step. Limit switches

feature a neutral-position or center-off type transfers one set of contacts with movement of the

lever in one direction. Lever movement in the opposite direction transfers the other set of

contacts. Limit switches with a two-step arrangement, a small movement of the lever transfers

one set of contacts, and further lever movement in the same direction transfers the other set of

contacts.

Maintained-contact limit switches require a second definite reset motion. These limit switches

are primarily used with reciprocating actuators, or where position memory or manual reset is

required. Spring-return limit switches automatically reset when actuating force is removed.


45


L L -4

L L -6

L L -1

S W 4

1 2

L L -3

S W 3

1 2

S W 6

1 2L L -2

S W 5

1 2L L -5

S W 1

1 2

S W 2

1 2

(a) (b)

Figure 5.12 (a) Limit Switches Schematic (b ) Limit Switches

5.7 SOLENOID STOPPER:

It is quite common that special pneumatic cylinders stop work piece holders in production lines.

Often the usage of pneumatic actuators is not feasible because surfaces of work pieces are

sensitive against raised dust or traces of oil mist. On the other hand, a process is running under

vacuum or blanket gas. Sometimes the stopper cylinders are the last remaining consumers of

pressurized air. Therefore, a pneumatic compressor and its ducts have to be maintained just for

them. The mounting of a solenoid and connecting it to its supply are, as a rule, simpler than

mounting a cylinder and connecting its hoses.

Therefore, stopper solenoids are a practical alternative. They can be delivered for all common

DC supply voltages. According to demands and application they can be delivered „stopping with

power on” and „releasing with power off” or vice versa. The return springs can be internal or

given by the application. For not too high masses and velocities of the work pieces, the inner

bearing of the solenoid is sufficient. For higher demands, there are constructive solutions, which

protect the bearings from blows.

Figure 5.13 Solenoid StopperSir Syed University Of Engineering And Technology

46


5.8 RELAYS

We are employing relays for switching and controlling the drive motors. The relays used are

Single Pole Double Throw SPDT type relays. The disadvantage of any electric component that

consists of coils is that it fire high back current. These relays are to be placed after the voltage

regulator IC so in order to protect the IC we had to get this back current blocked before it could

reach the IC and damage it.

5.9 POWER TRANSISTOR

For protecting the voltage regulator IC and countering the Back current of the relay, we added

Power Transistor in between the two components. The power transistor does not allow reverse

current to pass and hence protects the circuit.

5.10 TIMER

The 555 timer is one of the most popular and versatile integrated circuits ever produced. It includes 23

transistors, 2 diodes and 16 resistors on a silicon chip installed in an 8-pin mini dual-in-line package.

+1 2 V

U 6

L M 5 5 5

3

4 81

5

2

6

7

O U T

RS

T

VC

CG

ND

C V

TR G

TH R

D S C H G

R 1

V R 5 0 0 K

C 9 4 5

I K

2 2 0 R

+1 2 V

I K

I R -T

+1 2 V

1 0 3

I R -T

4 K 7

+5 V

I K

L E D

I R -1 t o 4

I K

I M

(a) (b)

Figure 5.14 (a) Timer Schematic (b) 555 Timer


47

http://en.wikipedia.org/wiki/Image:Signetics_NE555N.JPG


5.11 MAX-232

The communication between two parts of the project i.e. the robot manipulator and the operator

console panel is accomplished by using Max 232 converter. It allows for communication

between the two parts to span to a distance of 4000 feet.

1 0 u f

1 0 u f TXD

P 1

To PC

5

9

4

8

3

7

2

6

1

R XD

1 0 u f

1 0 u f

M A X2 3 2

1

3

4

5

16

15

2

6

1 2

9

1 11 0

1 3

8

1 4

7

C 1 +

C 1 -

C 2 +

C 2 -

VC

C

GN

D

V+

V -

R 1 O U T

R 2 O U T

T1 I NT2 I N

R 1 I N

R 2 I N

T1 O U T

T2 O U T

+5 V

(a) (b)

Figure 5.15 (a) Max 232 Schematic (b) Max232 Connector

5.12 CAMERA

In order to get the visual information about the surroundings of the robot, a camera is placed on

the end effecter. The camera used for this purpose is a standard CMOS camera as shown in

figure

Figure 5.16 CMOS Camera


48


CHAPTER 6

PROCESS FLOW

6.1 INTRODUCTION

In this section, we have discussed the overall process of our project step by step. This would

include both the hardware and software part of the system. After going through this section the

user would know how the system is working.

6.2 PROJECT FLOW

The design of our system is composed of both the electrical and mechanical setup working with

proper software to perform tasks according to our desire and in the case of our system we require

a higher level accuracy so that our system not only work better but also we avoid any damage to

our apparatus as well.


49


6.3 BASIC PROCESS FLOW:

Figure 6.1 Basic Process Flow


50


6.3.1 EXPALNATION OF PROCESS FLOW

From the Basic process flow diagram, we can observe that the continuous process can be divided

into several steps that will help the user to understand the system much comprehensively.

PHASE ”ONE”

The initializing of any process is an important section for its proper working of the system the

power supply used to start or initialize the system and the other equipment that is been used in

the system.

PHASE“TWO”

As the system is initiated first requirement is to attain proper position in order to make get

maximum efficiency and all the instruction that are provided to the system through the PC as

from the detailed flow chart we can see that a microcontroller is been used that is been used to

activate and deactivate motors. We have used rails in order to provider vertical elevation and not

only this but we have introduced a horizontal movement at the execution point so that we can get

as close to our target as possible that will help us to turn out the fire more efficiently.

PHASE“THREE”

As our project is provided wide real camera we may have clear sight of the target but this not the

case every time and it is every possibility that we due to heavy smoke or any other reason our

camera may not work for this reason a back up of temperature and smoke sensors is been

provided that gather information and transmit to the pc via microcontroller.

PHASE”FOUR”

After the presence of fire is been confirmed the next phase includes the extinguishing of the fire

for the purpose we have kept three options first one is to use water, as it is the cheapest, easy to

handle and easily available liquid. The second option is to use a chemical in case if water not

fulfill our desired objective and also we have used a fire extinguishing foam if we require it

therefore the selection can be done and also keep a check if we run out of out water or the

chemical that is been used so that we can refill it manually.


51


PHASE”FIVE”

In the end the system is been stopped as the fire is been turned out otherwise the system will

operate until desired results are not been achieved.


52


6.4 EQ SYSTEM PROCESS FLOW

Figure 6.2 EQ System Process Flow


53


CHAPTER 7

SOFTWARE DISCRIPTION

7.1 INTRODUCTION

The software for the project can be termed as firmware. This means that there is no visual

interface for the user to interact with the system directly; however, the user interacts with the

software through various input devices, which are used to specify the movements of the EQ

system.

The software for the project can be viewed in two different parts. The software at the operator

console and the software at the robotic end (see figure 7.1)

Figure 7.1 Software View

7.2 EQ SYSTEM SOFTWARE

The software starts out by trying to synchronize itself with the operator console software by

exchanging commands. Then after, it has synchronized itself with the operator console panel it

listens for commands from the operator console panel.

If the software hears the command, it is checked whether the command is a valid one or not. If

the received command is not valid then it is simply discarded and the process of listening is

resumed. However if the command received is a valid one then appropriate actions are carried

out.


54


Figure 7.2 GUI of EQ System

7.3 OPERATOR CONSOLE PANEL

The software at the operator console panel starts out by synchronizing it self with the EQ

systems software; it is performed in the same manner as stated before i.e. by exchanging

commands. Then the software enters in to a phase, which is responsible for assigning specific

commands to specific inputs. Then the software’s wait for the users input according to that input

a command is transmitted to the EQ system which is then validated at the EQ systems end and

the appropriate action is taken.

Figure 7.3 Operator Console Software


55


CHAPTER 8

RESULTS & DISCUSSION

8.1 INTRODUCTION

This chapter discusses the results, which were obtained during the course of the project.

8.2 RESULTS OF EQ SYSTEM

The results of the robotic arm are as follows:

8.2.1 MAXIMUM REACH OF THE EQ SYSTEM

The system has the capability to reach at an object that is approximately at a distance of 20

inches vertically and has the capability of reaching an object of 18 inches vertically.

8.2.2 WEIGHT LIFTING CAPABILITY OF THE EQ SYSTEM

When considering any type of electromechanical lifting structure it is important to know its safe

operating limit, which is how much weight is it capable of lifting. The EQ system is capable of

lifting approximately 2kg.

8.2.3 THE WORK ENVELOP OF THE EQ SYSTEM

The work envelop of the EQ system is actually the area in which it is impossible for the human

to reach the object and interact with its surroundings.

8.2.4 RUNNING TIME & RANGE OF THE EQ SYSTEM

There are always some constraints when operating these types of system, these comes in the

form of power requirements and range to reach the object. The running time of this project is

approximately 2 hours and the range to reach the object is about 2 feet’s.


56


CHAPTER 9

CONCLUSION AND FUTURE RECOMMENDATION

9.1 CONCLUSION

The projects enable a group of peoples trained for handling the EQ system, locating and

extinguishing the fire. The EQ system is a combination of extremely powerful mechanical

structure and typical logical electronic circuit setup, which is controlled by micro controller,

which make the hold of each electronic part, involve in the circuitry of the dissolution apparatus.

The project is capable of providing visual information back to the operator. Once the operator

has accessed the information, the operator can decide upon further actions to perform.

The aim of the EQ system was to help people by keeping safe their precious life for a long as it

can & it is safe to say that it has achieved its aim.

9.2 APPLICATION OF OUR PROJECT

It is obvious from the name of our project that its application is in any place where we require

fire extinguishing. It can be made mobile by implementing on a fire brigade and it can be made

stationary provided with high elevation in case if it is been used for private organization such as

chemical industry or any other place where risk of fire exits. We have tried to make it flexible by

using a chemical along with water and the extinguishing foam as well so that our system can

tackle any kind of fire and able to control it as quickly as possible.

9.3 FUTURE RECOMMENDATION

The project has a lot of potential for enhancements, in the perspective of increasing the systems

functionality and usability. Due to the lack of resources and time, we were not able to include the

following units into the system.


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9.3.1 DIGITAL IMAGE PROCESSING

Data received from the camera can be fed into the digital image processor that can selectively

extract important information regarding the extinguishing object.

9.3.2 WEB BASED INTERFACE

The world is moving towards the science of ubiquitous computing the system can configured to

receive commands via internet. All in the form of mobile computing, the operator will be able to

issue command s to the system while viewing the interacting surroundings in the web.

9.3.3 SOLAR CHARGING

Solar charging module can be used for charging the batteries of the robot and of the user control

panel. This would extend the working duration of the system considerably.

9.3.4 CHANGEABLE END EFFECTORS

There are many scenarios, which can to be taken into account when dealing with the fire.

Therefore interchangeable end effectors with different tools attached to them can be made

according to the scenario.


58


REFERENCES

[1 ]CMUcam Vision Board User Manual. Anthony Rowe and Carnegie Mellon University. Version 1.15, 2002http://www.seattlerobotics.com/cmucam.htm

[2] HiTec HS-55 MicroLite servo, HS-50 HiTec Feather servos Hitec RCD USA, Inchttp://www.hitecrcd.com

[3] Microchip PIC 16F877. Microchip Corporation, Updated April 2003http://www.microchip.com/1010/pline/picmicro/category/embctrl/14kbytes/devices/16f877/

[4] Hi-tech Compiler Manual. Hi-tech Software, Copyright 2002http://www.htsoft.com/products/piclite/piclite.html

[5] Microchip (boot loader code and schematic). Shane Tolmie, Copyright 2003http://www.microchipc.com/PIC16bootload/

[6] Gear Head Motor Datasheet. Lynx Motion, Copyright 2000http://www.lynxmotion.com/ghm02.htm

[7] IEEE SoutheastCon 2003Hardware Competition website.URL:http://www.ewh.ieee.org/r3/jamaica/southeastcon/robot.html. Retrieved April 11, 2003. J. L. Jones and A. M. Flynn,“Mobile Robots,” Wellesley, MA, 1993, pp. 118.


59


APPENDIX A

(TIME AND COST ANALYSIS)

Cost and time of Ownership can be defined as the amount it costs to maintain, fix, and guarantee

a product and the time required for the competition of project. For instance, if a design change

requiring hardware rework must be made to a few prototypes, the cost might be relatively small.

However, as the number of units that must be changed increases, the cost can become enormous.

The ease or difficulty of design changes can also affect opportunity costs. The total cost for the

project is approx 80,000/=. Engineers who spend time fixing old designs could be working on

introducing new products and features ahead of the competition. . In a typical design, many

different types have to be purchased and stocked. The total time duration of the completion of

the project is about one month before the submitting of the project.


60


APPENDIX B

(THEORETICAL STUDY)

ROBOTS

MICROCONTROLLER

SENSORS

ROBOTS:

The history of industrial automation is characterized by periods of rapid change in popular

methods. Either as a cause or perhaps an effect, such periods of change in automation techniques

seem closely tight to world economics. Use of the industrial robot, which became identifiable as

a unique device in the 1960 has, along with computer aided design (CAD) systems and computer

aided manufacturing (CAM) systems, and characterizes the latest trends in the automation of the

manufacturing process. These technologies are leading industrial automation through another

transistor, the scope of which is still unknown. Although the growth of the robotics market has

slowed compared to the early 1980’s. Present use of industrial robots is concentrated in rather

simple, repetitive task, which tend not to require high precision.

CLASSIFICATION OF ROBOTS:

We classify robot by their control mechanism. Each of the following definitions is useful for

different purposes. We are providing the general definitions here

TYPE OF CONTROL

1) Point-to-point robots

Point to point robots are able to move from one specified point to another but cannot stop

at arbitrary point not previously designated. They are the simplest and least expensive

type of robots; stopping points are often just mechanical stops that are to be adjusted for

each new operation. Point to point robots driver by servos is often controlled by

potentiometer as set to stop the robot at a specified point


61


2) Continuous path robot

Continuous path robot is able to stop at any specified number of points along the path.

However, if there are no stops specified, they may not stay on a straight line or a constant

curved path between specified points. Every point must be stored separately in the

memory of the robot.

3) Controlled path robot

Control equipment on controlled path robots can generate straight line, and circles,

interpolate curves and other paths with high accuracy. In some of robots geometric and

algebraic terms are used to specify the paths, they are accurate at any point along the

path. Only the start and finish coordinates and path definition is required for control.

4) Servo vs. non servo robot

Servo controlled robots have some means of sensing their position and feedback the

sensed. Non-servo robots have no way of determining whether they have reached a

specified location


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MICROCONTROLLER:

A microcontroller (also MCU or µC) is a computer-on-a-chip. It is a type of microprocessor

emphasizing high integration, low power consumption, self-sufficiency and cost-effectiveness, in

contrast to a general-purpose microprocessor (the kind used in a PC). In addition to the usual

arithmetic and logic elements of a general-purpose microprocessor, the microcontroller typically

integrates additional elements such as read-write memory for data storage, read-only memory,

such as flash for code storage, EEPROM for permanent data storage, peripheral devices, and

input/output interfaces. At clock speeds of as little as a few MHz or even lower, microcontrollers

often operate at very low speed compared to modern day microprocessors, but this is adequate

for typical applications. They consume relatively little power (mill watts), and will generally

have the ability to sleep while waiting for an interesting peripheral event such as a button press

to wake them up again to do something. Power consumption while sleeping may be just

nanowatts, making them ideal for low power and long lasting battery applications.

Microcontrollers are frequently used in automatically controlled products and devices, such as

automobile engine control systems, remote controls, office machines, appliances, power tools,

and toys. By reducing the size, cost, and power consumption compared to a design using a

separate microprocessor, memory, and input/output devices, microcontrollers make it

economical to electronically control many more processes.

AT89C51

The important properties of the microcontroller that we have used are

2 KB of flash

128 bytes of ram

15 I/O lines

two 16 bit timers/counters

five vector two-level interrupt architecture

full duplex serial port

on-chip oscillator

clock circuitrySir Syed University Of Engineering And Technology

63


In addition, 89s51 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 ports and interrupt systems to continue functioning.

The power down mode saves the RAM Content but freezes the oscillator disabling all other chip

function, the pin diagram of AT89S51 is as follows


64



65


SENSOR

A sensor is a device that measures a physical quantity and converts it into a signal, which can be read by

an observer or by an instrument. For example, a mercury thermometer converts the measured

temperature into expansion and contraction of a liquid, which can be read on a calibrated glass tube. A

thermocouple converts temperature to an output voltage, which can be read by a voltmeter. For

accuracy, all sensors need to be calibrated against known standards.

Sensors are used in everyday objects such as touch-sensitive elevator buttons and lamps, which dim or

brighten by touching the base. There are also innumerable applications for sensors of which most people

are never aware. Applications include cars, machines, aerospace, medicine, manufacturing and robotics.

A sensor's sensitivity indicates how much the sensor's output changes when the measured quantity

changes. For instance, if the mercury in a thermometer moves 1 cm when the temperature changes by 1

°C, the sensitivity is 1 cm/°C. Sensors that measure very small changes must have very high sensitivities.

Technological progress allows more and more sensors to be manufactured on a microscopic scale as

micro sensors using MEMS technology. In most cases, a micro sensor reaches a significantly higher

speed and sensitivity compared with macroscopic approaches. See also MEMS sensor generations.

Types

Because sensors are a type of transducer, they change one form of energy into another. For this

reason, sensors can be classified according to the type of energy transfer that they detect.

THERMAL

temperature sensors: thermometers, thermocouples, temperature sensitive resistors

(thermistors and resistance temperature detectors), bi-metal thermometers and

thermostats

heat sensors: bolometer, calorimeter, heat flux sensor


66

http://en.wikipedia.org/wiki/Bolometer

http://en.wikipedia.org/wiki/Heat

http://en.wikipedia.org/wiki/Thermostat

http://en.wikipedia.org/wiki/Bi-metal

http://en.wikipedia.org/wiki/Resistance_temperature_detector

http://en.wikipedia.org/wiki/Thermistor

http://en.wikipedia.org/wiki/Thermocouple

http://en.wikipedia.org/wiki/Thermometer

http://en.wikipedia.org/wiki/Temperature


ELECTROMAGNETIC

electrical resistance sensors: ohmmeter, multimeter

electrical current sensors: galvanometer, ammeter

electrical voltage sensors: leaf electroscope, voltmeter

electrical power sensors: watt-hour meters

magnetism sensors: magnetic compass, fluxgate compass, magnetometer, Hall effect

device

metal detectors

RADAR

MECHANICAL

Pressure Sensors: altimeter, barometer, barograph, pressure gauge, air speed indicator,

rate-of-climb indicator, variometer.

Gas And Liquid Flow Sensors: flow sensor, anemometer, flow meter, gas meter, water

meter, mass flow sensor.

Gas and liquid viscosity and density: viscometer, hydrometer, oscillating U-tube.

Mechanical Sensors: acceleration sensor, position sensor, selwyn, switch, strain gauge

Humidity sensors: hygrometer.

CHEMICAL

Chemical proportion sensors: oxygen sensors, ion-selective electrodes, pH glass

electrodes, redox electrodes, and carbon monoxide detectors.

Odour sensors: Tin-oxide gas sensors, and Quartz Microbalance sensors.


67

http://en.wikipedia.org/w/index.php?title=Quartz_Microbalance_sensor&action=edit&redlink=1

http://en.wikipedia.org/w/index.php?title=Tin-oxide_gas_sensor&action=edit&redlink=1

http://en.wikipedia.org/wiki/Carbon_monoxide_detector

http://en.wikipedia.org/wiki/Redox_electrode

http://en.wikipedia.org/wiki/PH_glass_electrode

http://en.wikipedia.org/wiki/PH_glass_electrode

http://en.wikipedia.org/wiki/Ion-selective_electrode

http://en.wikipedia.org/wiki/Oxygen_sensor

http://en.wikipedia.org/wiki/Chemistry

http://en.wikipedia.org/wiki/Hygrometer

http://en.wikipedia.org/wiki/Humidity

http://en.wikipedia.org/wiki/Strain_gauge

http://en.wikipedia.org/wiki/Switch

http://en.wikipedia.org/wiki/Selsyn

http://en.wikipedia.org/wiki/Position_sensor

http://en.wikipedia.org/wiki/Accelerometer

http://en.wikipedia.org/wiki/Mechanics

http://en.wikipedia.org/wiki/Oscillating_U-tube

http://en.wikipedia.org/wiki/Hydrometer

http://en.wikipedia.org/wiki/Viscometer

http://en.wikipedia.org/wiki/Liquid

http://en.wikipedia.org/wiki/Gas

http://en.wikipedia.org/wiki/Mass_flow_sensor

http://en.wikipedia.org/wiki/Water_meter

http://en.wikipedia.org/wiki/Water_meter

http://en.wikipedia.org/wiki/Gas_meter

http://en.wikipedia.org/wiki/Flow_meter

http://en.wikipedia.org/wiki/Anemometer

http://en.wikipedia.org/wiki/Flow_sensor

http://en.wikipedia.org/wiki/Liquid

http://en.wikipedia.org/wiki/Gas

http://en.wikipedia.org/wiki/Variometer

http://en.wikipedia.org/wiki/Rate-of-climb_indicator

http://en.wikipedia.org/wiki/Air_speed_indicator

http://en.wikipedia.org/wiki/Pressure_gauge

http://en.wikipedia.org/wiki/Barograph

http://en.wikipedia.org/wiki/Barometer

http://en.wikipedia.org/wiki/Altimeter

http://en.wikipedia.org/wiki/Pressure

http://en.wikipedia.org/wiki/RADAR

http://en.wikipedia.org/wiki/Metal_detector

http://en.wikipedia.org/wiki/Hall_effect


http://en.wikipedia.org/wiki/Magnetometer

http://en.wikipedia.org/wiki/Fluxgate_compass

http://en.wikipedia.org/wiki/Magnetic_compass

http://en.wikipedia.org/wiki/Magnetism

http://en.wikipedia.org/wiki/Watt-hour_meter

http://en.wikipedia.org/wiki/Electricity

http://en.wikipedia.org/wiki/Voltmeter

http://en.wikipedia.org/wiki/Leaf_electroscope


http://en.wikipedia.org/wiki/Ammeter

http://en.wikipedia.org/wiki/Galvanometer


http://en.wikipedia.org/wiki/Multimeter

http://en.wikipedia.org/wiki/Ohmmeter



OPTICAL RADIATION

Light time-of-flight. Used in modern surveying equipment, a short pulse of light is

emitted and returned by a retro reflector. The return time of the pulse is proportional to

the distance and is related to atmospheric density in a predictable way - see LIDAR.

Light sensors, or photo detectors, including semiconductor devices such as photocells,

photodiodes, phototransistors, CCDs, and Image sensors; vacuum tube devices like

photo-electric tubes, photomultiplier tubes; and mechanical instruments such as the

Nichols radiometer.

Infra-red sensor, especially used as occupancy sensor for lighting and environmental

controls.

Proximity sensor- A type of distance sensor but less sophisticated. Only detects a specific

proximity. May be optical - combination of a photocell and LED or laser. Applications in

cell phones, paper detector in photocopiers, auto power standby/shutdown mode in

notebooks and other devices. May employ a magnet and a Hall effect device.

Scanning laser- A narrow beam of laser light is scanned over the scene by a mirror. A

photocell sensor located at an offset responds when the beam is reflected from an object

to the sensor, whence the distance is calculated by triangulation.

Focus. A large aperture lens may be focused by a servo system. The distance to an in-

focus scene element may be determined by the lens setting.

Binocular. Two images gathered on a known baseline are brought into coincidence by a

system of mirrors and prisms. The adjustment is used to determine distance. Used in

some cameras (called range-finder cameras) and on a larger scale in early battleship

range-finders


68

http://en.wikipedia.org/wiki/Triangulation


http://en.wikipedia.org/wiki/Distance

http://en.wikipedia.org/wiki/Proximity_sensor

http://en.wikipedia.org/wiki/Lighting

http://en.wikipedia.org/wiki/Infra-red

http://en.wikipedia.org/wiki/Nichols_radiometer

http://en.wikipedia.org/wiki/Photomultiplier

http://en.wikipedia.org/wiki/Photoelectric_effect

http://en.wikipedia.org/wiki/Vacuum_tube

http://en.wikipedia.org/wiki/Image_sensor

http://en.wikipedia.org/wiki/Charge-coupled_device

http://en.wikipedia.org/wiki/Phototransistor

http://en.wikipedia.org/wiki/Photodiode

http://en.wikipedia.org/wiki/Photocell

http://en.wikipedia.org/wiki/Semiconductor

http://en.wikipedia.org/wiki/Photodetector

http://en.wikipedia.org/wiki/Light

http://en.wikipedia.org/wiki/LIDAR


Interferometry. Interference fringes between transmitted and reflected light waves

produced by a coherent source such as a laser are counted and the distance is calculated.

Capable of extremely high precision.

Scintillometers measure atmospheric optical disturbances.

Fiber optic sensors.

Short path optical interception - detection device consists of a light-emitting diode

illuminating a phototransistor, with the end position of a mechanical device detected by a

moving flag intercepting the optical path, useful for determining an initial position for

mechanisms driven by stepper motors.

OTHER TYPES

motion sensors: radar gun, speedometer, tachometer, odometer, occupancy sensor, turn

coordinator

orientation sensors: gyroscope, artificial horizon, ring laser gyroscope

distance sensor (no contacting) Several technologies can be applied to sense distance:

magnetostriction


69

http://en.wikipedia.org/wiki/Magnetostriction

http://en.wikipedia.org/wiki/Distance

http://en.wikipedia.org/wiki/Ring_laser_gyroscope

http://en.wikipedia.org/wiki/Artificial_horizon

http://en.wikipedia.org/wiki/Gyroscope

http://en.wikipedia.org/wiki/Orientation

http://en.wikipedia.org/wiki/Turn_coordinator

http://en.wikipedia.org/wiki/Turn_coordinator

http://en.wikipedia.org/wiki/Occupancy_sensor

http://en.wikipedia.org/wiki/Odometer

http://en.wikipedia.org/wiki/Tachometer

http://en.wikipedia.org/wiki/Speedometer

http://en.wikipedia.org/wiki/Radar_gun

http://en.wikipedia.org/wiki/Motion_(physics)

http://en.wikipedia.org/wiki/Stepper_motor

http://en.wikipedia.org/wiki/Photodiode

http://en.wikipedia.org/wiki/Light-emitting_diode

http://en.wikipedia.org/wiki/Optical_Fiber

http://en.wikipedia.org/wiki/Scintillometer

http://en.wikipedia.org/wiki/Laser

http://en.wikipedia.org/wiki/Coherence_(physics)

http://en.wikipedia.org/wiki/Interferometry


APENDIX D

(DATA SHEETS OF ALL MAJOR COMPONENTS)


70

Documents

Fyp Complete Report