SIX link Pick & Place Robot ( my own design )

SIX LINK PICK AND PLACE ROBOT - Bharadwaj

The main objective of our paper is to present an Electro-Mechanical based construction of a light weight robot arm to manipulate objects on a platform. We have designed a six link robotic arm using DC motors along with some gearing arrangement. Our design is not constricted to any PCB but we are using some essential electro-mechanical parts.
The AUTOCAD figure of our robot is shown below:

Our robot consists of three main divisions.
�� Robot Base Assembly
�� Robot Arm Assembly
�� Robot Gripper Assembly
Robot Base Assembly:
GRIPPER VIEW:
LINK ASSEMBLY:
MY TEAM MEMBERS:

Brown color shirt ( right side )... it's me..Bharadwaj.......Team leader

ZigBee Based Wireless DC Motor Speed & Direction Control ( my R&D project)

ZIGBEE BASED WIRELESS DC MOTOR SPEED & DIRECTION CONTROL
bharadwaj874@gmail.com
ABSTRACT : Wireless sensor networks have been very popular research field for the last couple of years. ZigBee is a new technology now being deployed for wireless sensor networks. ZigBee is a low data rate wireless network standard defined by the ZigBee Alliance and based on the IEEE 802.15.4.The ZigBee wireless network has some advantages compared with other wireless networks, it has the characteristics of low power, low price, highly secured and reliable, so implementing a remote motor control and monitoring system proves to have a good cost performance ratio.
This paper presents the implementation of a wireless sensor actor network (point to point) to control the speed of a DC motor from a remote location. Pulse Width Modulation technique provides the actual control. A feedback to measure the current speed is setup using Infra Red Sensor and fed to PIC16F877 Microcontroller directly. The conventional setup uses a frequency to voltage converter to find the speed whereas a new technique is used to calculate the speed from the IR sensor output without using frequency to voltage converter. The motor is controlled remotely with a ±5 rpm tolerance.
Keywords: Wireless Sensor Networks, ZigBee, Xbee, motor control

HOST UNIT BLOCK DIAGRAM:

NODE UNIT BLOCK DIAGRAM:
OBSERVED GRAPH:
Xbee Configuration using X-CTU Software :
ORIGINAL PICTURES:

HOST UNIT:

NODE UNIT:
CONCLUSION:
Different speeds are maintained at the given set speed by varying the duty cycle of PWM using PIC16F877A MICROCONTROLLER and a wireless sensor ZIGBEE with a resolution of ±5 rpm tolerance .The measured speed values are transferred by serial interface to the PC and are logged into a text file and are visualized with the aid of XCTU front.
The radius of the location under observation can be increased by 150 meters using an Xbee-Pro instead of ordinary Xbee. Alternatively, using a mesh network with Xbee the distance between the host and sensor node is not a crucial parameter. The acquired data can be further analyzed or used for control of the remote process.

REFERENCES
[1] H. Taub and DL Schilling. Principles of communication systems. McGraw Hill, New York, Second edition, 1986
[2] Low-Rate Wireless Personal Area Networks: Enabling Wireless Sensors with IEEE 802.15.4 by Jose A. Gutierrez ,Edgar H. Callaway, Jr, Raymond L Barrett, Jr. Published by Standards Information Network IEEE Press November 2003
[3] Wireless Communications: Principles & Practice, T.S. Rappaport. PH 1996
[4] ZigBee Wireless Networking Drew Gislason Newnes Press 2007
[5] http://www.zigbee.org/en/index.asp: Zigbee Official website
[6]http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf: Maxtream’s Transceiver Xbee
[7]Tanenbaum, A.S., Computer Networks, 3rd ed., Prentice-Hall International 1996.

LEVEL CONTROL USING IMAGE RECOGNITION ( my R&D project)

LEVEL CONTROL USING IMAGE RECOGNITION
bharadwaj874@gmail.com

Abstract--. The main aim of the work undertaken in this paper is to present a digital device for level control using image recognition. Integral to process control in many industries, different types of level measurement sensors used like ultrasonic, capacitance, hydrostatic pressure, electromechanical, gamma types. All these are of analog sensors rather than a digital. A simple webcam with roborealm software is used for sensing level and control. Matlab takes some time delay to track, recognize the live process & delay in generation of commands for control application so problem arises for live monitoring & control, whereas Roborealm software has an advantage that it recognizes & tracks live objects faster and generates commands for control applications. The position of Webcam is in horizontal for transparent tank or on top of tank for non-transparent. A microcontroller based controller circuit designed for tank level control. The use of object tracking with image recognition achieved greater accuracy & resolution is in the order of five times the capacitance type level sensor. The method developed shows the effectiveness of the scheme employed.

Keywords-- Roborealm, image recognition, RGB filter, COG module, calculate distance module.

BLOCK DIAGRAM:
SCHEMATIC DIAGRAM

GRAPH:

ORIGINAL PICTURES:

LEVEL MONITORING SCREEN :

OPERATION:
The experimental setup consists of a webcam arrangement either on top of tank or in horizontal to tank that depends on transparency of tank. A green colored float is placed in the tank. RGB filter removes all surrounding colors except float. The convex hull module will transform a binary blob into its convex hull & it is used to simplify the shape of a binary blob by simplifying the perimeter of float, which reduces lighting effects of environment. The smooth hull module is used to be average blobs perimeter within the specified window. The final outline is then weighted against the new averaged outline and the original. Convex hull & smooth hull is used to reduce outside noise and achieved better tracking. The Mean filter is used to soften an image by averaging surrounding pixel values.

Center of Gravity (COG) module locks the float and calculates the co-ordinates of present float position. The initial co-ordinates of float saved in a variable, when the tank is empty and save current co-ordinates in another variable. Now the calculate distance module provides a way to easily calculate the distance from the two variables. The X co-ordinate is making null value in calculate distance module. Now we get the current level of tank in terms of distance. A VB script program is used to convert distance to level of tank. The set point of tank level stored in VB script. A simple if & else statements are used for control application. If current level less than set point then send a command via serial port to 8051 microcontroller to open the control valve using a 12v dc motor controlled by L293D motor driver else close the control valve when current level exceeds set point.

CONCLUSION:
The use of image recognition for level measurement and control achieved greater accuracy & resolution is in the order of five times the ordinary analog capacitance type level sensor.

AUTOMATIC CAR PARKING SYSTEM

SECTION 2: PROJECT TYPE

Micro controller (AT89C51) hardware design with software development (Device Driver).

SECTION 3: PROJECT DESCRIPTION

          In many foreign countries and some developing countries the vehicle parking problem is rising as serious issue. As a solution in some countries building is constructed and entire building is used for parking purpose only. But there is some problem for the rider to know where the parking space is available.

•         In our project we are designing a basic model of this phenomenon with the help of sensors and motors.

•         In our project mainly we have a sensor which is placed in front of the entrance door of the building.

•         When any car is sensed by the sensor it first send the signal to control unit, Then it searches for the parking space availability in each floor with the help of counters. If the space is available it displays that floor number in the display unit.

•         When car reaches next unit called lift mechanism the car will be lifted to that floor automatically and after leaving car it automatically come back to the ground floor.

SECTION 5: PROJECT OUTLINE

Ø  A brief introduction to internal architecture of micro controller.

Ø  An over view of programming of micro controller.

Ø  An overview on assembly language.

Ø  An overview on interfacing of Motors.

Ø  An overview of Buzzers.

Ø  An overview on interface of switches and led.

SECTION 6: INTERFACES USED

Ø  Sensors interfacing.

Ø  DC motor Interfacing.

Ø  Stepper motor interfacing

Ø  4x3 Hex keypad interfacing

Ø  Buzzer, switches, led interfacing with micro controller.

SECTION 7: SOFTWARES USED

Ø  A Cross compiler for compiling and linking the code written for AT89C51.

Ø  Serial communication software for downloading code to AT89C51.

Ø  Operating system: Windows XP.

MICROCONTROLLER BASED WIRELESS INDUSTRIAL AUTOMATION

PROJECT TYPE

Micro controller(AT89C51) hardware design with software development (Device Driver). Atmel micro controller (AT89C51) based.

 PROJECT DESCRIPTION

         

This Project “INFRARED REMOTE BASED WIRELESS INDUSTRIAL AUTOMATION USING MICROCONTROLLER” is used to operate remote applications by using a standard Remote control. The system is used to control different types of applications according to the operator. All the above processes are controlled by the 8 bit Microcontroller AT89C2051. The Microcontroller receives the Infrared Signal from the receiver and it decodes and operate the appropriate Device. The Range of the system is up to 10 meters. The system works on Phillips RC5 format.  The Microcontroller is used to receive the Infrared signal from the Transmitter, the received signal is processed by the Microcontroller and according to the signal the corresponding applications ON/OFF. You can simply use your TV remote to do this for you from the sensors, and this signals operated under the control of software which is stored in ROM.

PROJECT OUTLINE

Ø  A brief introduction to internal architecture of microcontroller.

Ø  An over view of programming of microcontroller.

Ø  An overview on assembly language.

Ø  An overview on mechanical arrangement.

Ø  Serial port interfacing with microcontroller.

 

INTERFACES USED

Ø  Serial communication used for downloading the hex code.

Ø  L293D Interfacing.

Ø  Sensor circuit interface.

Ø  DC motor interfacing

Ø  Relay interfacing

SOFTWARES USED

Ø  A Cross compiler for compiling and linking the code written for AT89C51.

Ø  Serial communication software for downloading code to AT89C51.

Ø  Operating system: Windows XP.

MICROCONTROLLER BASED TEMPERATURE METER using AT89c51

SECTION 1: PROJECT TYPE

Micro controller (AT89C51) hardware design with software development (Device Driver).

SECTION 2: PROJECT DESCRIPTION

                        Measuring the impact of environmental constraints is important for proper data analysis and control. Different types of data loggers and data acquisition systems are available in the market to perform the task well. Temperature measurement is today more important. The ambient temperature keeps varying during different times of the day and night at different places. Temperature measurement can do for weather forecast or for automation in electronics devices and industries.

                            
Here we describe a temperature measurement device which uses microcontroller AT89c51, Temperature sensor and other components. The temperature is measured at user defined interval. Each time the current temperature goes above the user defined threshold value, the buzzer sounds.

SECTION 3: PROJECT OUTLINE

Ø  A brief introduction to internal architecture of micro controller.

Ø  An over view of programming of micro controller.

Ø  An overview on assembly language.

Ø  An overview on interfacing 16X2 LCD.

Ø  An overview of Buzzers.

Ø  An overview on interface of switches and led.

 

SECTION 4: INTERFACES USED

Ø  Sensors interfacing.

Ø  16X2 LCD Interfacing.

Ø  A/D converter interface.

Ø  keypad interfacing

Ø  Buzzer, switches, led interfacing with micro controller Relay interfacing.

 

SECTION 5: SOFTWARES USED

Ø  A Cross compiler for compiling and linking the code written for AT89C51.

Ø  Serial communication software for downloading code to AT89C51.

Ø  Operating system: Windows XP.

Microcontroller based programmable Air quality and CO detection with LCD display & Alarm

 PROJECT TYPE

Microcontroller(PIC16F877A) hardware design with software development (Device Driver). PIC micro controller (PIC16F877A) based.

 PROJECT DESCRIPTION

                                           

Air pollution in cities have shown that breathing dirty air cab be dangerous and at times death. Since then many nations have adopted ambient air quality standerda to safeguard the public against the moist common and damaging pollutants. Thease includes sulfur dioxide, suspended particulates matter, ground level ozone, nitrogen dioxide, carbon monoxide, and lead all of which are tied directly or indirectly to the combustion of fossile fules. Although substantial investments in pollution control in some industrialized country have lowered the levels of these pollutants in many cities, poor air quality is still a major concern throughout the industrialized world. Carbon monoxide is a gas that can build upto a dangerous level indoors when fuel-burning devices are not properly operated , vented or maintained because it has no odor, no taste, no color, no taste CO cannot be detected by smell, taste or sight. Co is poisoning due to residential fuel burning devices kills about 200 to 250. In this system an air quality sensor is being used to detect multiple toxic gas in pour environment. The semiconductor types gas sensor have excellent sensitivity to various smells generated in normal living environment such as nicotine, hydrogen sulphide, ammonia, trimethylamine, scatol, acetic acid, toluene, methylmelcaptan, acetoaldehyde, formaldehyde, acetone,carbon monoxide etc.

 PROJECT OUTLINE

Ø  A brief introduction to internal architecture of microcontroller.

Ø  An over view of programming of microcontroller.

Ø  An overview on C language.

Ø  An overview on mechanical arrangement.

Ø  Air & CO sensors interfacing with microcontroller.

 INTERFACES USED

Ø  Serial communication used for downloading the hex code.

Ø  Sensor circuit interface.

Ø  LCD interfacing

Ø  Relay interfacing.

 SOFTWARES USED

Ø  A Cross compiler for compiling and linking the code written for PIC16F877A.

Ø  Serial communication software for downloading code to PIC16F877A.

Ø  Operating system: Windows XP.

RUSH CONTROL IN PUBLIC PLACES

SECTION 3: PROJECT TYPE

Micro controller (AT89C51) hardware design with software development

 

 

SECTION 4: PROJECT DESCRIPTION

         

                                In modern days electronic locking system has become very popular, some of the locking systems are magnetic locking system, password based locking system and smart card locking system Etc. In this project a small demo for the password locking system has been implemented. Here microcontroller acts as controlling device for all interfaces used.

                                                This Project mainly used in rush places and restricted areas. In this Project 2 Sensors and 2 Displays and Door locking system are placed at the entrance. When the person enters through the entrance gate Display-1 shows the number of persons enter into the hall when the person comes out from the hall Display-2 shows the number of persons left from the hall. Other interface is the SWITCH interface we provide one switch at the entrance when the switch is pressed Door get closed. Those doors are open only when the authorized person enters their respective password.

SECTION 5: INTERFACES USED

Ø  4x3 hex keypad,                     

Ø  output display device as 7 segment Display

Ø  Buzzer for authorized access

Ø  Switch interface to access door manually

Ø  Sensors as scanning of persons

Ø  Motor for opening and closing of the restricted area those

Ø  One amp supply

SECTION 6: SOFTWARES USED

Ø  A Cross-compiler for compiling and linking the code written for AT89C51.

Ø  Serial communication software for downloading code to AT89C51.

Ø  Language: Assembly language.

Ø  Operating system: Windows Xp.

PC based Mobile Robot INSPECTOR with webcam

PROJECT DESCRIPTION

  Here we are going to construct PC-based mobile inspector with webcam. It is basically an electric powered, three-wheeled vehicle or robot attached with a PC camera or webcam. It can be used for navigation or like a inspector. Here we are going to use parallel cable and USB cable. it is used in navigations, coal mines, dark areas where people not able to take Risks.

 PROJECT OUTLINE

Ø  A brief introduction to Parallel port

Ø  An over view of ULN2803.

Ø  An overview on mechanical arrangement.

Ø  Opto couplers interfacing.

 INTERFACES USED

Ø  Parallel port interfacing.

Ø  Web cam interface.

Ø  ULN2803 interfacing

Ø  Motor interfacing.

Ø  Opt coupler interfacing

PC based control and Authorized system with Webcam

PROJECT TYPE

This project has been designed with out using microcontroller. It is a PC based project.

                                   

PROJECT DESCRIPTION

Here we are going to construct a PC based control and Authorized system with Webcam. In this project we are making home automation by controlling the appliances through PC at the same time we can restrict the entry of the strangers by placing a secret cam at the Main doors. So, we can navigate the every movement of the people coming in to the house or office. We are not only navigate but also control the appliances (AC/DC) generally using in the home or Office. All these applications are possible by making a model Hardware which is connected to the PC via Serial communication. It is a Friendly user project  because we have a GUI which is in VB6.0

 PROJECT OUTLINE

Ø  A brief introduction microcontroller

Ø  An over view of ULN2803.

Ø  An overview on mechanical arrangement.

 INTERFACES USED

Ø  serial port interfacing.

Ø  Web cam interface.

Ø  ULN2803 interfacing

Ø  Motor interfacing.

Ø  ULN2003  interfacing

SOFTWARES USED

Ø  A Cross compiler for compiling and linking the code written for AT89C51.

Ø  Serial communication software for downloading code to AT89C51.

Ø  Operating system: Windows XP.