LANDMINE DETECTION ROBOT

CHAPTER I INTRODUCTION

THE LANDMINE PROBLEM

It has been estimated that more than 100 million active mines are scattered throughout over 60 Countries in the world, and more than 2,000 people are killed by mines every month. Many anti personnel mines are designed specially to maim rather than kill as signi!icant resources are re"uired to care !or people who are in#ured by such mines, and there is a signi!icant psychological impact on !ellow soldiers. $andmines have also been used as a weapon agnist local population although such use is contary to international humanitarian law. $andmines persist as a signi!icant problem !or civilians long a!ter a con!lict has !inished and have a ma#or impact on post con!lict reconstruction. %hey are invisible &as they are o!ten buried' and indiscriminate, and as a result cause terror in the civilian population. (ven with international e!!orts to ban the use and production o! landmines the situation continues to deteriorate with landmines being laid around 20 times !aster than they are currently being cleared.

CURRENT TECHNIQUES FOR LANDMINE DETECTION AND CLEARANCE:

%he detection o! buried landmines is traditionally per!ormed through e)haustive searching by humans, using some combination basic tools. *enerally, potential mines are located using a metal detector to locate metal !ragments such as the ring pin o! the landmine and+or by !eeling !or mounds or depressions which are caused by the laying o! the mines or by subse"uent settling o! the ground. %hese potential mines are then investigated !urther through manual probing. In practice many deminers actually probe the entire ground area regardless o! whether they have !ound a potential mine. ,s a result o! military action there may be up to 1,000 metal !ragments tobe investigated !or each single mine discovered resulting in potentially lethal deminer ECE Dept. SCCE 1

LANDMINE DETECTION ROBOT

!atigue. In !act -0. o! all clearance accidents occur during the investigation o! metal signatures/ , although this statistic is debated by some deminers. 0uch accidents can also be caused by landmines which have moved !rom the hori1ontal position such as in the 2alkland Islands where-0.o! the mines are laid in peat or sand .

%he e!!ectiveness o! metal detectors is inhibited by mines with e)tremely low metal content or by soils with high !errous content, and hence other detection techni"ues have been &and are being' investigated. 3ne such techni"ue which is widely used is the detection o! e)plosive material by smell using a dog .4ogs can be trained to identi!y the presence o! e)plosives which are leaked by landmines, although the e)plosives can be detected up to 10 meters !rom the mine resulting in only the appro)imate position being identi!ied. In addition, e)perience with dogs seems to show that mines do not release signi!icant %5%vapour a!ter 1- months o! burial. %his techni"ue, however, appears to have potential !or the identi!ication o! the boundaries o! a mine eld.3nce detected, landmines are generally destroyed in situ as the risks associated with neutralizing or disarming them are too great.

Hand prodding is very dangerous

Detectors are notoriously inaccurate

2I*67( 1.18 97(0(5% $,54MI5( 4(%(C%I5* M(%:340 ECE Dept. SCCE 2

LANDMINE DETECTION ROBOT

1.2 SCHEMATIC DIAGRAM

VCC

R8 R7 R6 R5 R4 R3 R2 R1 C

C R1 R2 R3 R4 R5 R6 R7 R8

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1 GND 2 VCC 3 VEE 4 RS 5 RW 6 EN 7 D0 8 D1 9 D2 10 D3 11 D4 12 D5 13 D6 14 D7 15 VCC 16 GND VCC

VCC CL<9"C;3201: D76T9"C;3201: CS9"C;3201: 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 9T2: ;180 9T2 E?: ;181 ;182 ;183 ;184 9"7SI: ;185 9"IS7: ;186 9SC<: ;187 RST 9R?D: ;380 9T?D: ;381 9I0T0: ;382 9I0T1: ;383 9T0: ;384 9T1: ;385 9WR: ;386 9RD: ;387 ?T!L2 ?T!L1 50D VCC ;080/!D0 ;081/!D1 ;082/!D2 ;083/!D3 ;084/!D4 ;085/!D5 ;086/!D6 ;087/!D7 E!/V;; !LE/;R75 ;SE0 ;287/!15 ;286/!14 ;285/!13 ;284/!12 ;283/!11 ;282/!10 ;281/!9 ;280/!8 40 39 38 37 36 35 34 33 32 31 30 VCC 29 28 27 26 25 24 23 22 21 ;081 50D ;083

RS9LCD: E09LCD: D49LCD: D59LCD: D69LCD: D79LCD:

>R7" IS; >R7" IS; >R7" IS; RST R276T 9"!?232: T2I09"!?232:

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ECE Dept. SCCE

LCD DISPLAY GND

9 8 7 6 5 4 3 2 1

VCC

1 2 3 4 5 6 7 8 9

C R1 R2 R3 R4 R5 R6 R7 R8

LANDMINE DETECTION ROBOT

1.3CIRCUIT DESCRIPTION 1.3.1:DESIGNING:

0ince the main intension o! this pro#ect is to design a <3M< 4(%(C%I5* 73<3%. In order to !ul!ill this application there are !ew steps that has been per!ormed i.e. 1' 2' ;' =' ?' 4esigning the power supply !or the entire circuitry. 0election o! microcontroller that suits our application. 0election o! 0(5037. 0election o! <6>>(7 0election o! M3%37.

Complete studies o! all the above points are use!ul to develop this pro#ect.

1.3.2:POWER SUPPLY SECTION:

In order to work with any components basic re"uirement is power supply. In this section there is a re"uirement o! two di!!erent voltage levels. %hose are 1' ?@ 4C power supply. 2' A@ 4C power supply. 5ow the aim is to design the power supply section which converts 2;0@ ,C in to ?@ 4C. 0ince 2;0@ ,C is too high to reduce it to directly ?@ 4C, there!ore we need a step down trans!ormer that reduces the line voltage to certain voltage that will help us to convert it in to a ?@ 4C. Considering the e!!iciency !actor o! the bridge recti!ier, we came to a conclusion to choose a trans!ormer, whose secondary voltage is ; to = @ ECE Dept. SCCE =

LANDMINE DETECTION ROBOT

higher than the re"uired voltage i.e. ?@. 2or this application 0 A@ trans!ormers is used, since it is easily available in the market. %he output o! the trans!ormer is A@ ,CB it !eed to recti!ier that converts ,C to pulsating 4C. ,s we all know that there are ; kind o! recti!iers that is 1' hal! wave 2' 2ull wave and ;' <ridge recti!ier :ere we short listed to use <ridge recti!ier, because hal! wave recti!ier has we less in e!!iciency. (ven though the e!!iciency o! !ull wave and bridge recti!ier are the same, since there is no re"uirement !or any negative voltage !or our application, we gone with bridge recti!ier. 0ince the output voltage o! the recti!ier is pulsating 4C, in order to convert it into pure 4C we use a high value &100062+1?0062' o! capacitor in parallel that acts as a !ilter. %he most easy way to regulate this voltage is by using a C-0? voltage regulator, whose output voltage is constant ?@ 4C irrespective o! any !luctuation in line voltage.

1.3.3:SELECTION OF MICROCONTROLLER:
,s we know that there so many types o! micro controller !amilies that are available in the market. %hose are 1' -0?1 2amily 2' ,@7 microcontroller 2amily ;' 9IC microcontroller 2amily =' ,7M 2amily <asic -0?1 !amily is enough !or our applicationB hence we are not concentrating on higher end controller !amilies. In order to !ul!ill our application basic that is ,%-AC?1 controller is enough. <ut still we selected ,%-A0?2 controller because o! inbuilt I09 &in system programmer' option. %here are minimum si) re"uirements !or proper operation o! microcontroller. ECE Dept. SCCE ?

LANDMINE DETECTION ROBOT

%hose are8 1' power supply section 2' pull ups !or ports &it is must !or 937%0' ;' 7eset circuit =' Crystal circuit ?' I09 circuit &!or program dumping' 6' (,+@99 pin is connected to @cc. 937%0 is open collector thatDs why we are using pull up resistor which makes 937%0 as an I+3 port. 7eset circuit is used to reset the microcontroller. Crystal circuit is used !or the microcontroller !or timing pluses. In this pro#ect we are not using e)ternal memory thatDs why (,+@99 pin in the microcontroller is connected to @cc that indicates internal memory is used !or this application.

1.3.4:CONNECTIONS OF DC MOTOR:
In this pro#ect we are using one driver IC $2A;4 to 35E322 the dc motor. %he terminals o! this $2A;4 is connected to the 937%2.1 &92.1' o! microcontroller.

ECE Dept. SCCE

LANDMINE DETECTION ROBOT

CHAPTER 2 EMBEDDED SYSTEM

2.1 INTRODUCTION TO EMBEDDED SYSTEM

(mbedded systems are electronic devices that incorporate microprocessors with in their implementations. %he main purposes o! the microprocessors are to simpli!y the system design and provide !le)ibility. :aving a microprocessor in the device helps in removing the bugs, making modi!ications, or adding new !eatures are only matter o! rewriting the so!tware that controls the device. 3r in other words embedded computer systems are electronic systems that include a microcomputer to per!orm a speci!ic dedicated application. %he computer is hidden inside these products. (mbedded systems are ubi"uitous. (very week millions o! tiny computer chips come pouring out o! !actories !inding their way into our everyday products. (mbedded systems are sel! contained programs that are embedded within a piece o! hardware. Fhereas a regular computer has many di!!erent applications and so!tware that can be applied to various tasks, embedded systems are usually set to a speci!ic task that cannot be altered without physically manipulating the circuitry. ,nother way to think o! an embedded system is as a computer system that is created with optimal e!!iciency, thereby allowing it to complete speci!ic !unctions as "uickly as possible. (mbedded systems designers usually have a signi!icant grasp o! hardware technologies. %hey use speci!ic programming languages and so!tware to develop embedded systems and manipulate the e"uipment. Fhen searching online, companies o!!er embedded systems development kits and other embedded systems tools !or use by engineers and businesses. ECE Dept. SCCE C

LANDMINE DETECTION ROBOT

(mbedded systems technologies are usually !airly e)pensive due to the necessary development time and built in e!!iciencies, but they are also highly valued in speci!ic industries. 0maller businesses may wish to hire a consultant to determine what sort o! embedded systems will add value to their organi1ation.

2.1.1CHARACTERISTICS:
%wo ma#or areas o! di!!erences are cost and power consumption. 0ince many embedded systems are produced in tens o! thousands to millions o! units range, reducing cost is a ma#or concern. (mbedded systems o!ten use a &relatively' slow processor and small memory si1e to minimi1e costs. %he slowness is not #ust clock speed. %he whole architecture o! the computer is o!ten intentionally simpli!ied to lower costs. 2or e)ample, embedded systems o!ten use peripherals controlled by synchronous serial inter!aces, which are ten to hundreds o! times slower than comparable peripherals used in 9Cs. 9rograms on an embedded system o!ten run with real time constraints with limited hardware resources8 o!ten there is no disk drive, operating system, keyboard or screen. , !lash drive may replace rotating media, and a small keypad and $C4 screen may be used instead o! a 9CGs keyboard and screen. 2irmware is the name !or so!tware that is embedded in hardware devices, e.g. in one or more 73M+2lash memory IC chips. (mbedded systems are routinely e)pected to maintain 100. reliability while running continuously !or long periods, sometimes measured in years. 2irmware is usually developed and tested too much harsher re"uirements than is general purpose so!tware, which can usually be easily restarted i! a problem occurs.

PLATFORM: %here are many di!!erent C96 architectures used in embedded designs. %his in contrast to the desktop computer market which is limited to #ust a !ew competing architectures mainly the Intel+,M4 )-6 and the ,pple+Motorola+I<M 9ower 9CDs which are used in the ,pple Macintosh. 3ne common con!iguration !or embedded ECE Dept. SCCE -

LANDMINE DETECTION ROBOT

systems is the system on a chip, an application speci!ic integrated circuit, !or which the C96 was purchased as intellectual property to add to the ICGs design.

TOOLS: $ike a typical computer programmer, embedded system designers use compilers, assemblers and debuggers to develop an embedded system. %hose so!tware tools can come !rom several sources8 0o!tware companies that speciali1e in the embedded market 9orted !rom the *56 so!tware development tools. 0ometimes, development tools !or a personal computer can be used i! the embedded processor is a close relative to a common 9C processor. (mbedded system designers also use a !ew so!tware tools rarely used by typical computer programmers. 0ome designers keep a utility program to turn data !iles into code, so that they can include any kind o! data in a program. Most designers also have utility programs to add a checksum or C7C to a program, so it can check its program data be!ore e)ecuting it.

OPERATING SYSTEM: %hey o!ten have no operating system, or a speciali1ed embedded operating system &o!ten a real time operating system', or the programmer is assigned to port one o! these to the new system.

DEBUGGING: 4ebugging is usually per!ormed with an in circuit emulator, or some type o! debugger that can interrupt the micro controllerDs internal microcode. %he microcode interrupt lets the debugger operate in hardware in which only the C96 works. %he C96 based debugger can be used to test and debug the electronics o! the computer !rom the viewpoint o! the C96. 4evelopers should insist on debugging which shows the high level language, with breakpoints and single stepping, because these !eatures are widely available. ,lso, developers should write and use simple logging !acilities to debug se"uences o! real ECE Dept. SCCE A

LANDMINE DETECTION ROBOT

time events. 9C or main!rame programmers !irst encountering this sort o! programming o!ten become con!used about design priorities and acceptable methods. Mentoring, code reviews and ego less programming are recommended.

2.1.2:DESIGN OF EMBEDDED SYSTEMS:

%he electronics usually uses either a microprocessor or a microcontroller. 0ome large or old systems use general purpose main!rames computers or minicomputers.

START-UP: ,ll embedded systems have start up code. 6sually it disables interrupts, sets up the electronics, tests the computer &7,M, C96 and so!tware', and then starts the application code. Many embedded systems recover !rom short term power !ailures by restarting &without recent sel! tests'. 7estart times under a tenth o! a second are common. Many designers have !ound one o! more hardware plus so!tware controlled $(4Ds use!ul to indicate errors during development &and in some instances, a!ter product release, to produce troubleshooting diagnostics'. , common scheme is to have the electronics turn o!! the $(4&s' at reset, whereupon the so!tware turns it on at the !irst opportunity, to prove that the hardware and start up so!tware have per!ormed their #ob so !ar. ,!ter that, the so!tware blinks the $(4&s' or sets up light patterns during normal operation, to indicate program e)ecution progress and+or errors. %his serves to reassure most technicians+engineers and some users. THE CONTROL LOOP: In this design, the so!tware has a loop. %he loop calls subroutines. (ach subroutine manages a part o! the hardware or so!tware. Interrupts generally set !lags, or update counters that are read by the rest o! the so!tware. , simple ,9I disables and enables interrupts. 4one right, it handles nested calls in nested subroutines, and restores the preceding interrupt state in the outermost enable. %his is one o! the simplest methods o! creating an e)ocrine.

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

%ypically, thereGs some sort o! subroutine in the loop to manage a list o! so!tware timers, using a periodic real time interrupt. Fhen a timer e)pires, an associated subroutine is run, or !lag is set. ,ny e)pected hardware event should be backed up with a so!tware timer. :ardware events !ail about once in a trillion times. 0tate machines may be implemented with a !unction pointer per state machine &in CHH, C or assembly, anyway'. , change o! state stores a di!!erent !unction into the pointer. %he !unction pointer is e)ecuted every time the loop runs. Many designers recommend reading each I3 device once per loop, and storing the result so the logic acts on consistent values. Many designers pre!er to design their state machines to check only one or two things per state. 6sually this is a hardware event, and a so!tware timer. 4esigners recommend that hierarchical state machines should run the lower level state machines be!ore the higher, so the higher run with accurate in!ormation. Comple) !unctions like internal combustion controls are o!ten handled with multi dimensional tables. Instead o! comple) calculations, the code looks up the values. %he so!tware can interpolate between entries, to keep the tables small and cheap. 3ne ma#or disadvantage o! this system is that it does not guarantee a time to respond to any particular hardware event. Care!ul coding can easily assure that nothing disables interrupts !or long. %hus interrupt code can run at very precise timings. ,nother ma#or weakness o! this system is that it can become comple) to add new !eatures. ,lgorithms that take a long time to run must be care!ully broken down so only a little piece gets done each time through the main loop. %his systemGs strength is its simplicity, and on small pieces o! so!tware the loop is usually so !ast that nobody cares that it is not predictable. ,nother advantage is that this system guarantees that the so!tware will run. %here is no mysterious operating system to blame !or bad behavior. USER INTERFACES: Inter!ace designers at 9,7C, ,pple Computer, <oeing and :9 minimi1e the number o! types o! user actions. 2or e)ample, use two buttons &the absolute minimum' to control a menu system &#ust to be clear, one button should be /ne)t menu entry/ the

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

other button should be /select this menu entry/'. , touch screen or screen edge buttons also minimi1e the types o! user actions. ,nother basic trick is to minimi1e and simpli!y the type o! output. 4esigns should consider using a status light !or each inter!ace plug, or !ailure condition, to tell what !ailed. , cheap variation is to have two light bars with a printed matri) o! errors that they select the user can glue on the labels !or the language that she speaks. 2or e)ample, <oeingGs standard test inter!ace is a button and some lights. Fhen you press the button, all the lights turn on. Fhen you release the button, the lights with !ailures stay on. %he labels are in <asic (nglish. 4esigners use colors. 7ed de!ines the users can get hurt think o! blood. Iellow de!ines something might be wrong. *reen de!ines everythingGs 3J. ,nother essential trick is to make any modes absolutely clear on the userGs display. I! an inter!ace has modes, they must be reversible in an obvious way. Most designers pre!er the display to respond to the user. %he display should change immediately a!ter a user action. I! the machine is going to do anything, it should start within C seconds, or give progress reports. 3ne o! the most success!ul general purpose screen based inter!aces is the two menu buttons and a line o! te)t in the userGs native language. ItGs used in pagers, medium priced printers, network switches, and other medium priced situations that re"uire comple) behavior !rom users. Fhen thereGs te)t, there are languages. %he de!ault language should be the one most widely understood.

ECE Dept. SCCE

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2.2 INTRODUCTION TO MICROCONTROLLER

Microcontrollers as the name suggests are small controllers. %hey are like single chip computers that are o!ten embedded into other systems to !unction as processing+controlling unit. 2or e)ample the remote control you are using probably has microcontrollers inside that do decoding and other controlling !unctions. %hey are also used in automobiles, washing machines, microwave ovens, toys ... etc, where automation is needed. Micro controllers are use!ul to the e)tent that they communicate with other devices, such as sensors, motors, switches, keypads, displays, memory and even other micro controllers. Many inter!ace methods have been developed over the years to solve the comple) problem o! balancing circuit design criteria such as !eatures, cost, si1e, weight, power consumption, reliability, availability, manu!acturability. Many microcontroller designs typically mi) multiple inter!acing methods. In a very simplistic !orm, a micro controller system can be viewed as a system that reads !rom &monitors' inputs, per!orms processing and writes to &controls' outputs. (mbedded system means the processor is embedded into the re"uired application. ,n embedded product uses a microprocessor or microcontroller to do one task only. In an embedded system, there is only one application so!tware that is typically burned into 73M. ()ample8 printer, keyboard, video game player Microprocessor , single chip that contains the C96 or most o! the computer Microcontroller , single chip used to control other devices Microcontroller di!!ers !rom a microprocessor in many ways. 2irst and the most important is its !unctionality. In order !or a microprocessor to be used, other components such as memory, or components !or receiving and sending data must be added to it. In short that means that microprocessor is the very heart o! the computer. 3n the other hand, microcontroller is designed to be all o! that in one. 5o other e)ternal ECE Dept. SCCE 1;

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components are needed !or its application because all necessary peripherals are already built into it. %hus, we save the time and space needed to construct devices.

2.2.1:MICROPROCESSOR VS MICROCONTROLLER:
Mi !"#!" $%%"!: C96 is stand alone, 7,M, 73M, I+3, timer are separate 4esigner can decide on the amount o! 73M, 7,M and I+3 ports. e)pensive versatility general purpose

Mi !" "&'!"(($!:

C96, 7,M, 73M, I+3 and timer are all on a single chip !i) amount o! on chip 73M, 7,M, I+3 ports !or applications in which cost, power and space are critical single purpose

2.3: INTRODUCTION TO )IEL SOFTWARE

Many companies provide the -0?1 assembler, some o! them provide shareware version o! their product on the Feb, Jiel is one o! them. Fe can download them !rom their Febsites. :owever, the si1e o! code !or these shareware versions is limited and we have to consider which assembler is suitable !or our application. 2.3.1:)IEL U VISION2: %his is an I4( &Integrated 4evelopment (nvironment' that helps you write, compile, and debug embedded programs. It encapsulates the !ollowing components8 . , pro#ect manager 1=

ECE Dept. SCCE

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. . . . , make !acility %ool con!iguration (ditor , power!ul debugger %o get start here are some several e)ample programs BUILDING AN APPLICATION IN UVISION2: %o build &compile, assemble, and link' an application in u@ision2, you must8 . . 0elect 9ro#ectK3pen 9ro#ect &2or e)ample, EC166E(L,M9$(0E:($$3E:($$3.6@2' 0elect 9ro#ect 7ebuild all target !iles or <uild target. 6@ision2 compiles, assembles, and links the !iles in your pro#ect. CREATING YOUR OWN APPLICATION IN UVISION2: %o create a new pro#ect in u@ision2, you must8 . . . . . . . 0elect 9ro#ect 5ew 9ro#ect. 0elect a directory and enter the name o! the pro#ect !ile. 0elect 9ro#ect !rom the 4evice 4atabase Create source !iles to add to the pro#ect. 0elect 9ro#ect %argets, *roups, and 2iles. ,dd+2iles, select 0ource *roup1, and add the source !iles to the pro#ect. 0elect 9ro#ect 3ptions and set the tool options. 5ote when you select the target device !rom the 4evice 4atabase all special options are set automatically. Iou only need to con!igure the memory map o! your target hardware. 4e!ault memory model settings are optimal !or most. APPLICATIONS: . 0elect 9ro#ect 7ebuild all target !iles or <uild target. 1? 0elect 4evice and select an -0?1, 2?1, or C16)+0%10 device

ECE Dept. SCCE

LANDMINE DETECTION ROBOT

DEBUGGING AN APPLICATION IN UVISION2: %o debug an application created using u@ision2, you must8 . . . . 0elect 4ebug 0tart+0top 4ebug 0ession. 6se the 0tep toolbar buttons to single step through your program. Iou may enter *, main in the 3utput Findow to e)ecute to the main C !unction. 3pen the 0erial Findow using the 0erial M1 button on the toolbar. 4ebug your program using standard options like 0tep, *o, <reak, and so on.

2.3.2:LIMITATIONS OF EVALUATION SOFTWARE:

%he !ollowing limitations apply to the evaluation versions o! the C?1, C2?1, or C166 tool chains. C?1 (valuation 0o!tware $imitations8 . %he compiler, assembler, linker, and debugger are limited to 2 Jbytes o! ob#ect code but source Code may be any si1e. 9rograms that generate more than 2 Jbytes o! ob#ect code will not compile, assemble, or link the startup code generated includes $NM9Gs and cannot be used in single chip devices supporting $ess than 2 Jbytes o! program space like the 9hilips C?0+C?1+C?2. . . . . %he debugger supports !iles that are 2 Jbytes and smaller. 9rograms begin at o!!set 0)0-00 and cannot be programmed into single chip devices. 5o hardware support is available !or multiple 49%7 registers. 5o support is available !or user libraries or !loating point arithmetic.

EVALUATION SOFTWARE: . . . Code <anking $inker+$ocator $ibrary Manager. 7%L ?1 %iny 7eal %ime 3perating 0ystem

2.3.3:PERIPHERAL SIMULATION:

ECE Dept. SCCE

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%he u vision2 debugger provides complete simulation !or the C96 and on chip peripherals o! most embedded devices. %o discover which peripherals o! a device are supported, in u vision2. 0elect the 0imulated 9eripherals item !rom the :elp menu. Iou may also use the web based device database. Fe are constantly adding new devices and simulation support !or on chip peripherals so be sure to check 4evice 4atabase o!ten.

CHAPTER 3 COMPONENT DESCRIPTION

3.1 MICROCONTROLLER *+S,2 3.1.1FEATURES OF AT*+S,2
DESCRIPTION: %he ,%-AC?2 is a low power, high per!ormance CM30 - bit microcomputer with -Jbytes o! 2lash programmable and erasable read only memory &9(73M'. %he on chip 2lash allows the program memory to be reprogrammed in system or by a conventional nonvolatile memory programmer. <y combining a versatile - bit C96 with 2lash on a monolithic chip, the ,tmel ,%-AC?2 is a power!ul microcomputer, which provides a highly !le)ible and cost e!!ective solution to many embedded control applications. ECE Dept. SCCE 1C -J <ytes o! In 0ystem 7eprogrammable 2lash Memory (ndurance8 1,000 Frite+(rase Cycles 2ully 0tatic 3peration8 0 :1 to 2= M:1 2?6 ) - bit Internal 7,M ;2 9rogrammable I+3 $ines %hree 16 bit %imer+Counters (ight Interrupt 0ources 9rogrammable 0erial Channel $ow power Idle and 9ower down Modes

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2I*67( ;.18,%-A0?2 MIC73C35%73$$(7

3.1.2:PIN DIAGRAM - AT*+S,2:

2I*67( ;.28,%-A0?2 9I54I,*7,M

ECE Dept. SCCE

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3.1.3:PIN DESCRIPTION:
VCC - 0upply voltage. GND - *round. P"!' -: 9ort 0 is an - bit open drain bi directional I+3 port. ,s an output port, each pin can sink eight %%$ inputs. Fhen 1s are written to port 0 pins, the pins can be used as high impedance inputs. 9ort 0 can also be con!igured to be the multiple)ed low order address+data bus during accesses to e)ternal program and data memory. In this mode, 90 has internal pull ups. 9ort 0 also receives the code bytes during 2lash programming and outputs the code bytes during program veri!ication. ()ternal pull ups are re"uired during program veri!ication. P"!' 1: 9ort 1 is an - bit bi directional I+3 port with internal pull ups. %he 9ort 1 output bu!!ers can sink+source !our %%$ inputs. Fhen 1s are written to 9ort 1 pins, they are pulled high by the internal pull ups and can be used as inputs. ,s inputs, 9ort 1 pins that are e)ternally being pulled low will source current &II$' because o! the internal pull ups. In addition, 91.0 and 91.1 can be con!igured to be ECE Dept. SCCE 1A

LANDMINE DETECTION ROBOT

the timer+counter 2 e)ternal count input &91.0+%2' and the timer+counter 2 trigger input &91.1+%2(L', respectively.

PORT PIN ALTERNATE FUNCTIONS:

P1.- T2 .$/'$!&0( "1&' i&#1' '" Ti2$!3C"1&'$! 245 (" 6-"1' P1.1 T2E7 .Ti2$!3C"1&'$! 2 0#'1!$3!$("08 '!i99$! 0&8 8i!$ 'i"& "&'!"(

P"!' 2: 9ort 2 is an - bit bi directional I+3 port with internal pull ups. %he 9ort 2 output bu!!ers can sink+source !our %%$ inputs. Fhen 1s are written to 9ort 2 pins, they are pulled high by the internal pull ups and can be used as inputs. ,s inputs, 9ort 2 pins that are e)ternally being pulled low will source current &I I$' because o! the internal pull ups. 9ort 2 emits the high order address byte during !etches !rom e)ternal program memory and during accesses to e)ternal data memory that uses 16 bit addresses &M3@L O 49%7'. In this application, 9ort 2 uses strong internal pull ups when emitting 1s. 4uring accesses to e)ternal data memory that uses - bit addresses &M3@L O 7I'B 9ort 2 emits the contents o! the 92 0pecial 2unction 7egister. 9ort 2 also receives the high order address bits and some control signals during 2lash programming and veri!ication. P"!' 3: 9ort ; is an - bit bi directional I+3 port with internal pull ups. %he 9ort ; output bu!!ers can sink+source !our %%$ inputs. Fhen 1s are written to 9ort ; pins, they are pulled high by the internal pull ups and can be used as inputs. ,s inputs, 9ort ; pins that are e)ternally being pulled low will source current &I I$' because o! the pull ups. 9ort ; also serves the !unctions o! various special !eatures o! the ,%-AC?1. 9ort ; also receives some control signals !or 2lash programming and veri!ication. PORT PIN ALTERNATE FUNCTIONS: ECE Dept. SCCE 20

LANDMINE DETECTION ROBOT

9;.0 7L4 &serial input port' 9;.1 %L4 &serial output port' 9;.2 I5%0 &e)ternal interrupt 0' 9;.; I5%1 &e)ternal interrupt 1' 9;.= %0 &timer 0 e)ternal input' 9;.? %1 &timer 1 e)ternal input' 9;.6 F7 &e)ternal data memory write strobe' 9;.C 74 &e)ternal data memory read strobe'.

RST: 7eset input. , high on this pin !or two machine cycles while the oscillator is running resets the device.

ALE3PROG: ,ddress $atch (nable is an output pulse !or latching the low byte o! the address during accesses to e)ternal memory. %his pin is also the program pulse input &973*' during !lash programming. In normal operation, ,$( is emitted at a constant rate o! 1+6 the oscillator !re"uency and may be used !or e)ternal timing or clocking purposes. :owever, that one ,$( pulse is skipped during each access to e)ternal data memory. I! desired, ,$( operation can be disabled by setting bit 0 o! 027 location -(:. Fith the bit set, ,$( is active only during a M3@L or M3@C instruction. 3therwise, the pin is weakly pulled high. 0etting the ,$( disable bit has no e!!ect i! the microcontroller is in e)ternal e)ecution mode. PSEN: 9rogram 0tore (nable is the read strobe to e)ternal program memory. Fhen the ,%-AC?2 is e)ecuting code !rom e)ternal program memory, 90(5 is activated twice each machine cycle, e)cept that two 90(5 activations are skipped during each access to e)ternal data memory.

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LANDMINE DETECTION ROBOT

EA3VPP: ()ternal ,ccess (nable &(,' must be strapped to *54 in order to enable the device to !etch code !rom e)ternal pro gram memory locations starting at 0000: up to 2222:. :owever, i! lock bit 1 is programmed, (, will be internally latched on reset. (, should be strapped to @CC !or internal program e)ecutions. %his pin also receives the 12@ programming enable voltage &@99' during 2lash programming when 12@ programming is selected. 7TAL1: Input to the inverting oscillator ampli!ier and input to the internal clock operating circuit. 7TAL2: It is an output !rom the inverting oscillator ampli!ier.

3.1.4:BLOC) DIAGRAM OF *+S,2:

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EXTERNAL INTERRUPTS ON-CHIP ROM FOR PROGRAM CODE ONCHIP RAM

TIMER/CO UNTER

INTERRUPT CONTROL

TIMER 1 TIMER 0

COUNTER INPUTS

CPU BUS CONTROL 4 I/O PORTS SERIAL PORT

OSC

P0 P1 P2 P3

Tx

Rx

2I*67( ;.;8<$3CJ 4I,*7,M 32 ,%-A0?2

3.1.,:ARCHITECHTURE OF *+S,2 MICROCONTROLLER:

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

2I*67( ;.=8 ,7C:I%(C%67( 32 ,%-A0?2

OSCILLATOR CHARACTERISTICS:

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L%,$1 and L%,$2 are the input and output, respectively, o! an inverting ampli!ier, which can be con!igured !or use as an on chip oscillator. (ither a "uart1 crystal or ceramic resonator may be used. %o drive the device !rom an e)ternal clock source, L%,$2 should be le!t unconnected while L%,$1 is driven. %here are no re"uirements on the duty cycle o! the e)ternal clock signal, since the input to the internal clocking circuitry is through a divide by two !lip !lop, but minimum and ma)imum voltage high and low time speci!ications must be observed. IDLE MODE: In idle mode, the C96 puts itsel! to sleep while all the on chip peripherals remain active. %he mode is invoked by so!tware. %he content o! the on chip 7,M and all the special !unctions registers remain unchanged during this mode. %he idle mode can be terminated by any enabled interrupt or by a hardware reset. It should be noted that when idle is terminated by a hardware reset, the device normally resumes program e)ecution, !rom where it le!t o!!, up to two machine cycles be!ore the internal reset algorithm takes control. 3n chip hardware inhibits access to internal 7,M in this event, but access to the port pins is not inhibited. %o eliminate the possibility o! an une)pected write to a port pin when Idle is terminated by reset, the instruction !ollowing the one that invokes Idle should not be one that writes to a port pin or to e)ternal memory.

OSCILLATOR CONNECTIONS:

2I*67( ;.? 830CI$$,%37 C355(C%I35

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

N"'$: C1, C2 P ;0 p2 Q 10 p2 !or Crystals P =0 p2 Q 10 p2 !or Ceramic 7esonators

2I*67( ;.68 (L%(75,$ C$3CJ47I@( %3 -A0?2

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT 3.2 BOMB DETECTOR

, :"2: 3 2$'0( 8$'$ '"! is a device which responds to metal that may not be readily apparent. %he simplest !orm o! a metal detector consists o! an oscillator producing an alternating current that passes through a coil producing an alternating magnetic !ield. I! a piece o! electrically conductive metal is close to the coil, eddy currents will be induced in the metal, and this produces an alternating magnetic !ield o! its own. I! another coil is used to measure the magnetic !ield &acting as a magnetometer', the change in the magnetic !ield due to the metallic ob#ect can be detected. %he !irst industrial metal detectors were developed in the 1A60s and were used e)tensively !or mining and other industrial applications. 6ses include de mining &the detection o! land mines', the detection o! weapons such as knives and guns, especially in airport security, geophysical prospecting, archaeology and treasure hunting. Metal detectors are also used to detect !oreign bodies in !ood, and in the construction industry to detect steel rein!orcing bars in concrete and pipes and wires buried in walls and !loors.

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

3.3 L2+3D DRIVER

3.3.1 INTRODUCTION %he $2A; and $2A;4 are "uadruple high current hal! : drivers. %he $2A; is designed to provide bidirectional drive currents o! up to 1 , at voltages !rom =.? @ to ;6 @. %he $2A;4 is designed to provide bidirectional drive currents o! up to 600 m, at voltages !rom =.? @ to ;6 @. <oth devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high current+high voltage loads in positive supply applications. ,ll inputs are %%$ compatible. (ach output is a complete totem pole drive circuit, with a 4arlington transistor sink and a pseudo 4arlington source. 4rivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2(5 and drivers ; and = enabled by ;,=(5. Fhen an enable input is high, the associated drivers are enabled, and their outputs are active and in phase with their inputs. Fhen the enable input is low, those drivers are disabled, and their outputs are o!! and in the high impedance state. Fith the proper data inputs, each pair o! drivers !orms a !ull : &or bridge' reversible drive suitable !or solenoid or motor applications. 3n the $2A;, e)ternal high speed output clamp diodes should be used !or inductive transient suppression. , @CC1 terminal, separate !rom @CC2, is provided !or the logic inputs to minimi1e device power dissipation. %he $2A;and $2A;4 are characteri1ed !or operation !rom 0RC to C0RC.

ECE Dept. SCCE

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3.3.2: BLOC) DIAGRAM8

2I*67( ;.C8$2A;4 <$3CJ 4I,*7,M

ECE Dept. SCCE

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$3*IC 4I,*7,M8

2I*67( ;.A8 0C:(M,%IC0 I596%0 ,54 36%96%0 32 $2A;4 ECE Dept. SCCE ;0

LANDMINE DETECTION ROBOT

<I93$,7 0%(99(7 M3%37 C35%73$ CI7C6I%8

ECE Dept. SCCE

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3.4: STEPPER MOTOR

, direct current &4C' motor is another widely used device that translate electrical 9ulses into mechanical movement. In the 4C motor we have only H and K leads connecting them to a 4C voltage source moves the motor in one direction .<y reversing the polarity, the 4C motor will move in the opposite direction. 3ne can easily e)periment with 4C motor. 2or e)ample, small !ans used in any mother boards to cool the C96 are run by 4C motors. <y connecting their leads to the H and K voltage source, the 4C motor moves .Fhile a stepper motor moves in steps o! 1 to ?0degrees,the 4C motor moves continuously. In a stepper motor, i! we know the starting position we can easily count the number o! steps the motor has moved and calculate the !inal position o! the motor. %his is not possible in a 4C motor. the ma)imum speed o! a 4C motor is indicated in rpm and is given in the data sheet. %he 4C motor has two rpms 8no load and loaded. %he manu!acturerDs data sheet gives the no load rpm.the no load rpm can be !rom a !ew thousand to tens o! thousands. %he rpm is reduced when moving a load and it decreases as the load is increased. 2or e)ample, a drill turning a screw has a much lower rpm speed then when it is in the no load situation.4C motors also have voltage and current ratings. %he nominal voltage is the voltage !or that motor under normal conditions, and can be !rom 1 to 1?0v, depending on the motor. ,s we increase the voltage, the rpm goes up. %he current rating is the current consumption when the nominal voltage is applied with no load, and can be !rom 2?m, to a !ew amps. ,s the load increases, the rpm is decreased, unless the current or voltage provided to the motor is increased, which in turn increases the tor"ue. Fith a !i)ed voltage, as the load increases, the current &power' consumption o! a 4C motor is increased. I! we overload the motor it will stall, and that can damage the motor due to the heat generated by high current consumption.

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

2I*67( ;.118 0%(99(7 M3%37

CHAPTER 4 ADVANTAGES AND APPLICATIONS

4.1: ADVANTAGES:
(asier to navigate across di!!icult terrain. 0a!e !or the user operator. Can climb incline. Cheaper !or all robots and having high resolutions area.

4.2: APPLICATIONS:
Metal detectors capable o! !inding low metal contents mines in minerali1ed soil. In de!ence. :ighly e!!ective !or detecting.

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

CONCLUSION
, landmine detection robot was designed in the pro#ect. %his pro#ect presents a landmine detecting robot and it is designed and implemented with ,tmel -A0?2 MC6 in embedded system domain. . ()perimental work has been carried out care!ully. %he result shows that higher e!!iciency is indeed achieved using the embedded system. %he proposed method is veri!ied to be highly bene!icial !or the security purpose and industrial purpose. In this prototype pro#ect we concentrate on the detection o! weapons &$andmine' and hence bombs using appropriate sensors and there will be an indication !rom the microcontroller whenever there is a detection o! weapons $andmine, hence appro)imate precautions can be taken when $andmine is detected. %his pro#ect is very much use!ul in every public places like bus stands, parks, auditoriums etc., this pro#ect is also very much help!ul to the police department in order to prevent bomb e)plore and prevent anti social activities in the society %he need !or a concealed weapons and e)plosive detection systems in uncontrolled environments has increased in recent years. %raditional metal detector inspection systems are limited to controlled environments such as security check points and cannot detect plastic e)plosives

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

FUTURE SCOPE
$ighter plastic based !rame <etter sensor technology <etter strategy to deal with large obstacles Fider wheels (asier usability such that private persons can map their own land In this landmine detector, robot is connected and self controlled and it will sound the Bu er when it finds the landmine.

!his can be e"tended by ma#ing robot controlled by mobile $or%

&C.

ECE Dept. SCCE

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REFERENCES

TE7T BOO)S REFERED:

1. Muhammad ,li Ma1idi and Nanice *illispie Ma1idi, S%he -0?1 Microcontroller and (mbedded 0ystemsT, 9earson (ducation 9ublications. 2. J(55(%: N,I,$,,-0?1 Microcontroller ,rchitecture, programming and application. ;. ,%M($ -As?2 4ata sheets. =. :and book !or 4igital ICDs !rom ,nalogical 4evices.

WEBSITES VIEWED:
www.atmel.com www.beyondlogic.org www.dallassemiconductors.com www.ma)im ic.com www.alldatasheets.com www.howstu!!works.com

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

SOURCE CODE MincludeUreg?2.hV ++include at-Ac?1 microcontroller header !ile sbit bu1erP92WCB sbit M71 P 92W0B sbit M72 P 92W1B sbit M$1 P 92W2B sbit M$2 P 92W;B unsigned char chB void mov!&'B void movb&'B void movr&'B void movl&'B void stop&'B void delayXmicro&unsigned int'B void delayXms&unsigned int'B void main &void' Y mov!&'B stop&'B ECE Dept. SCCE ;C

LANDMINE DETECTION ROBOT

movb&'B delayXms&2?0'B stop&'B movl&'B delayXms&2?0'B stop&'B movr&'B delayXms&2?0'B stop&'B movl&'B delayXms&100'B stop&'B movr&'B delayXms&100'B stop&'B

Z void mov!&' Y M71 P 1B M72 P 0B Z void movb&' Y M71 P 0B M72 P 1B ECE Dept. SCCE ;-

LANDMINE DETECTION ROBOT

Z void movr&' Y M71 P 1B M72 P 0B M$1 P 0B M$2 P 1B Z void movl&' Y M71 P 1B M72 P 0B M$1 P 1B M$2 P 0B Z void stop&' Y M71 P 0B M72 P 0B M$1 P 0B M$2 P 0B delayXms&C?'B Z

ECE Dept. SCCE

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LANDMINE DETECTION ROBOT

ECE Dept. SCCE

=0