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Tuesday, December 20, 2011
Monday, December 12, 2011
Working
The most important tools for the working of AUTOMATIC GESTURE CONTROLLED ROBOT are the human gestures and image processing of these gestures. These gestures are used to direct robot according to our need. Image Processing has huge computational requirements, and it is not possible to run an image processing code directly on a small microcontroller. Hence, for our purpose, the simplest approach would be to run the code on a computer, which has a webcam connected to it to take the images, and the robot is controlled by the computer via parallel port. The code is written in software that provides the tools for acquiring images, analysing the content in the images and deriving conclusions. MATLAB is one of the much such software available which provide the platform for performing these tasks. An image (or any other data like sound, etc.) can be converted to a matrix and then various operations can be performed on it to get the desired results and values. Image processing is quite a vast field to deal with. We can identify colours, intensity, edges, texture or pattern in an image. In this project we would be restricting ourselves to detecting colours (using RGB values) only.
The output of a computer i.e. the image processing results of MATLAB
is fed to the DB-25 parallel port which interfaces the computer with our gesture
controlled robot. DB-25 is 25 pin port, divided in ratio of 13:12, 4 pins out
of these pins receive input from PC and transfer that input to four
4N35-optocouplers as shown in Fig. 17. These optocouplers act as isolator and
voltage regulator between DB-25 parallel port and microcontroller. The
optocoupler application or
function in the circuit is to:
Ø Monitor high voltage
Ø Output voltage sampling for regulation
Ø System control micro for power on/off
If the optocoupler IC breakdown, it will cause
the equipment to have low power, blink, no power, erratic power and even power
shut down once switch on the equipment.
Output from the four
optocouplers goes to port B of microcontroller ATMEGA-8. It is a 28 pin
controller that controls the movement of robot. Port D of the controller
carries output from the controller to L293D H-Bridge Motor controller. The
L293D is designed to provide bidirectional drive currents of up to 600-mA at
voltages from 4.5 V to 36 V. The output of microcontroller is generally low and
motor operates on high voltage and current values. L293D provides necessary
voltage and current for running of D.C motor running at 60 rpm. Finally output
of L293D motor controller goes to two D.C motor that moves the robot in four
directions- left, right, clockwise, and anticlockwise.
ROBOT MOVEMENT
|
LEFT
D.C. MOTOR MOVEMENT
|
RIGHT
D.C. MOTOR MOVEMENT
|
Forward
|
Clockwise
|
Clockwise
|
Reverse
|
Anti- Clockwise
|
Anti- Clockwise
|
Left Turn
|
Anti- Clockwise
|
Clockwise
|
Right Turn
|
Clockwise
|
Anti- Clockwise
|
Stationary
|
OFF
|
OFF
|
Components list
Components Required:-
S.No.
|
Name of the
Component
|
Qty.
|
01
|
Atmega8
AVR Microcontroller
|
01
|
02
|
IC
L293D
|
01
|
03
|
IC
4N37
|
04
|
04
|
Voltage
Regulator 7805
|
01
|
05
|
DC
Motor- 60 rpm
|
02
|
06
|
Crystal
Oscillator- 8 Mhz
|
01
|
07
|
8V
Battery
|
01
|
08
|
Parallel
Port DB-25
|
01
|
09
|
LED
|
05
|
10
|
Switch
|
01
|
11
|
Capacitor-
470 µF
Capacitor- 22
pF
|
01
02
|
12
|
Resistor-
1K
|
04
|
13
|
Webcam
|
01
|
14
|
Connectors
with Ribbon wire
|
02
|
Embedded System
An embedded system is a computer
system designed to perform one or a few dedicated
functions often with real-time
computing constraints. It is embedded as part of a
complete device often including hardware and mechanical parts. By contrast, a
general-purpose computer, such as a personal computer (PC),
is designed to be flexible and to meet a wide range of end-user needs. Embedded
systems control many devices in common use today.
Embedded
systems are controlled by one or more main processing cores that are typically
either microcontrollers or digital signal processors (DSP).
The key characteristic, however, is being dedicated to handle a particular
task, which may require very powerful processors. For example, air
traffic control systems may usefully be viewed as embedded,
even though they involve mainframe
computers and dedicated regional and national networks
between airports and radar sites (each radar probably includes one or more
embedded systems of its own).
Since the embedded
system is dedicated to specific tasks, design engineers can optimize it to
reduce the size and cost of the product and increase the reliability and
performance. Some embedded systems are mass-produced, benefiting from economies
of scale.
Physically,
embedded systems range from portable devices such as digital watches and MP3
players, to large stationary installations like traffic
lights, factory controllers, or the
systems controlling nuclear
power plants. Complexity varies from low, with a single microcontroller chip,
to very high with multiple units, peripherals and networks mounted inside a
large chassis or
enclosure.
In general,
"embedded system" is not a strictly definable term, as most systems
have some element of extensibility or programmability. For example, handheld
computers share some elements with embedded systems such as
the operating systems and microprocessors which power them, but they allow
different applications to be loaded and peripherals to be connected. Moreover,
even systems which don't expose programmability as a primary feature generally
need to support software updates. On a continuum from "general
purpose" to "embedded", large application systems will have subcomponents
at most points even if the system as a whole is "designed to perform one
or a few dedicated functions", and is thus appropriate to call
"embedded".
Embedded system employs a combination of software
& hardware to perform a specific function. It is a part of a larger system
which may not be a “computer” works in a reactive & time constrained
environment.
Any electronic system that uses a CPU chip, but that
is not a general-purpose workstation, desktop or laptop computer is known as
embedded system. Such systems generally use microprocessors; microcontroller or
they may use custom-designed chips or both. They are used in automobiles,
planes, trains, space vehicles, machine tools, cameras, consumer and office
appliances, cell phones, PDAs and other handhelds as well as robots and toys.
The uses are endless, and billions of microprocessors are shipped every year
for a myriad of applications.
In embedded systems, the software is permanently set
into a read-only memory such as a ROM or flash memory chip, in contrast to a
general-purpose computer that loads its programs into RAM each time. Sometimes,
single board and rack mounted general-purpose computers are called
"embedded computers."
History
In the earliest years
of computers in the 1940–50s, computers were sometimes dedicated to a single
task, but were far too large and expensive for most kinds of tasks performed by
embedded computers of today. Over time however, the concept of programmable controllers evolved
from traditional electromechanical
sequencers, via solid state devices, to the use of computer technology.
One of the first
recognizably modern embedded systems was the Apollo Guidance Computer,
developed by Charles
Stark Draper at the MIT Instrumentation Laboratory. At the
project's inception, the Apollo guidance computer was considered the riskiest
item in the Apollo project as it employed the then newly developed monolithic
integrated circuits to reduce the size and weight. An early mass-produced
embedded system was the Autonetics D-17 guidance computer for the Minuteman
missile, released in 1961. It was built from transistor logic and had
a hard disk for
main memory. When the Minuteman II went into production in 1966, the D-17 was
replaced with a new computer that was the first high-volume use of integrated
circuits. This program alone reduced prices on quad Nand
gate ICs from $1000/each to $3/each, permitting their use
in commercial products.
Since these early
applications in the 1960s, embedded systems have come down in price and there
has been a dramatic rise in processing power and functionality. The first microprocessor for
example, the Intel 4004, was
designed for calculators and
other small systems but still required many external memory and support chips.
In 1978 National Engineering Manufacturers Association released a
"standard" for programmable microcontrollers, including almost any
computer-based controllers, such as single board computers, numerical, and
event-based controllers.
As the cost of
microprocessors and microcontrollers fell it became feasible to replace
expensive knob-based analog
components such as potentiometers and variable
capacitors with up/down buttons or knobs read out by a
microprocessor even in some consumer products. By the mid-1980s, most of the
common previously external system components had been integrated into the same
chip as the processor and this modern form of the microcontroller allowed
an even more widespread use, which by the end of the decade were the norm
rather than the exception for almost all electronics devices. The integration
of microcontrollers has further increased the applications for which embedded
systems are used into areas where traditionally a computer would not have been
considered. A general purpose and comparatively low-cost microcontroller may
often be programmed to fulfill the same role as a large number of separate
components. Although in this context an embedded system is usually more complex
than a traditional solution, most of the complexity is contained within the
microcontroller itself. Very few additional components may be needed and most
of the design effort is in the software. The intangible nature of software
makes it much easier to prototype and test new revisions compared with the
design and construction of a new circuit not using an embedded processor.
Applications
Consumer electronics, e.g., cameras, cell phones etc.
Consumer products, e.g. washers, microwave ovens etc.
Automobiles (anti-lock braking, engine control etc.)
Industrial process controller & defence
applications.
Computer/Communication products, e.g. printers, FAX
machines etc.
Medical Equipment.
ATMs
Aircrafts
Microcontroller
for Embedded Systems
In the literature discussing
microprocessors, we often see a term embedded system. Microprocessors and
microcontrollers are widely used in embedded system products. An embedded
product uses a microprocessor (or microcontroller) to do one task and one task
only. A printer is an example of embedded system since the processor inside it
performs one task only: namely, get data and print it. Contrasting this with a
IBM PC which can be used for a number of applications such as word processor,
print server, network server, video game player, or internet terminal. Software
for a variety of applications can be loaded and run. Of course the reason a PC
can perform myriad tasks is that it has RAM memory and an operating system that
loads the application software into RAM and lets the CPU run it. In an embedded
system, there is only one application software that is burned into ROM. An PC
contains or is connected to various embedded products such as the keyboard,
printer, modem, disk controller, sound card, CD-ROM driver, mouse and so on.
Each one of these peripherals has a microcontroller inside it that performs
only one task. For example, inside every mouse there is a microcontroller to
perform the task of finding the mouse position and sending it to the PC.
Although microcontrollers are the
preferred choice for many embedded systems, there are times that a
microcontroller is inadequate for the task. For this reason, in many years the
manufacturers for general-purpose microprocessors have targeted their
microprocessor for the high end of the embedded market.
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