2.3 DTMF KIT 2.3.1 Introduction: DTMF means DUAL TONE MULTIPLE FREQUENCY .

This technology is widely used and has many applications. One of the application is discussed that is mobile controlled robotic car using DTMF technology . Being able to achieve reliable communication is an important open area of research to robotics as well as other technology areas. As interest in robotics continues to grow, robots are increasingly being integrated in everyday life. The results of this integration are end-users possessing less and less technical knowledge of the technology. Currently, the primary mode for robot communication uses RF (radio frequency). RF is an obvious choice for communication since it allows more. Information to be transferred at smaller distance. The overall goal of the project is to control robot over a long distance using DTMF technology efficiently.

Description The transmitter side is placed in the area which is to be supervised. The receiver section is placed in the operator side which receives the video from the corresponding area.

DTMF Tone The DTMF technique outputs distinct representation of 16 common alphanumeric characters (0-9, A-D, *, #) on the telephone. The lowest frequency used is 697Hz and the highest frequency used is 1633Hz, as

shown in Table. The DTMF keypad is arranged such that each row will have its own unique tone frequency and also each column will have its own unique tone frequency. Above is a representation of the typical DTMF keypad and the associated row/column frequencies. By pressing a key, for example 5, will generate a dual tone consisting of 770 Hz for the low group and 1336 Hz for the high group.

DTMF Decoder The MT-8870 is a DTMF Receiver that integrates both band split filter and decoder functions into a single 18-pin DIP or SOIC package. It is manufactured using CMOS process technology. The MT-8870 offers low power consumption (35 mW max) and precise data

handling. Its filter section uses switched capacitor technology for both the high and low group filters and for dial tone rejection. Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code. External component count is minimized by provision of an on-chip differential input amplifier, clock generator, and latched tri-state interface bus. Minimal external components required includes a low-cost 3.579545 MHz color burst crystal, a timing resistor, and a timing capacitor.

The filter section is used for separation of the low-group and high group tones and it is achieved by applying the DTMF signal to the inputs of two sixth order switched capacitor band pass filters, the bandwidths of which corresponds to the low and high group frequencies. The filter section also incorporates notches at 350 and 440 Hz for exceptional dial tone rejection. Each filter output is followed by a single order switched capacitor filter section which smoothes the signals prior to limiting. Limiting is performed by high-gain comparators which are provided with hysteresis to prevent detection of unwanted low-level signals. The outputs of the comparators provide full rail logic swings at the frequencies of the incoming DTMF signals. Following the filter section is a decoder employing digital counting techniques to determine the frequencies of the incoming tones and to verify that they correspond to the standard DTMF frequencies.

2.3.2Circuit diagram

ILE PHONE OPERATED ROBOT

Radio control (often abbreviated to R/C or simply RC) is the use of radio signals to remotely control a device. The term is used frequently to refer to the control of model vehicles from a hand-held radio transmitter. Industrial, military, and scientific research organizations make [traffic] use of radio-controlled vehicles as well. A remote control vehicle is defined as any mobile device that is controlled by a means that does not restrict its motion with an origin external to the device. This is often a radio control device, cable between control and vehicle, or an infrared controller. A remote control vehicle (Also called as RCV) differs from a robot in that the RCV is always controlled by a human and takes no positive action autonomously. One of the key technologies which underpin this field is that of remote vehicle control. It is vital that a vehicle should be capable of proceeding accurately to a target area;

maneuvering within that area to fulfill its mission and returning equally accurately and safely to base. 1.1 STATEMENT OF THE PROBLEM The objective of our project, is to control the robot by a mobile phone (as transmitter) that makes call to the mobile phone (as receiver) attached to the robot. Now after answering the call, and in the course of the call, if any button is pressed control corresponding to the button pressed is heard at the other end of the call. This tone is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the help of phone stacked in the robot. The received tone is processed by the 16F72 microcontroller with the help of DTMF decoder MT8870 the decoder decodes the DTMF tone in to its equivalent binary digit and this binary number is send to the microcontroller, the microcontroller is preprogrammed to take a decision for any give input and outputs its decision to motor drivers in order to drive the motors for forward or backward motion or a turn. The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So this simple robotic project does not require the construction of receiver and transmitter units. DTMF signaling is used for telephone signaling over the line in the voice frequency band to the call switching center. The version of DTMF used for telephone dialing is known as touch tone. DTMF assigns a specific frequency (consisting of two separate tones) to each key s that it can easily be identified by the electronic circuit. The signal generated by the DTMF encoder is the direct al-gebric submission, in real time of the amplitudes of two sine (cosine) waves of different frequencies, i.e., pressing 5 will send a tone made by adding 1336 Hz and 770 Hz to the other end of the mobile.

BACKGROUND OF THE PROBLEM The First Remote Control Vehicle / Precision Guided Weapon : This propeller-driven radio controlled boat, built by Nikola Tesla in 1898, is the original prototype of all modern-day uninhabited aerial vehicles and precision guided weapons. In fact, all remotely operated vehicles in air, land or sea. Powered by lead-acid batteries and an electric drive motor, the vessel was designed to be manoeuvred alongside a target using instructions received from a wireless remote control transmitter. Once in position, a command would be sent to detonate an explosive charge contained within the boat's forward compartment.

The weapon's guidance system incorporated a secure communications link between the pilot's controller and the surface-running torpedo in an effort to assure that control could be maintained even in the presence of electronic countermeasures. To learn more about Tesla's system for secure wireless communications and his pioneering Implementation of the electronic logic-gate circuit read Nikola Tesla Guided Weapons & Computer Technology, Tesla Presents Series Part 3, with commentary by Leland Anderson. Use of Remote Controlled Vehicles During World War II : During World War II in the European Theater the U.S. Air Force experimented with three basic forms radio control guided weapons. In each case, the weapon would be directed to its target by a crew member on a control plane. The first weapon was essentially a standard bomb fitted with steering controls. The next evolution involved the fitting of a bomb to a glider airframe, one version, the GB-4 having a TV camera to assist the controller with targeting. The third class of guided weapon was the remote controlled B-17. It's known that Germany deployed a number of more advanced guided strike weapons that saw combat before either the V-1 or V-2. They were the radiocontrolled Henschel's Hs 293A and Ruhrstahl's SD1400X, known as "Fritz X," both airlaunched, primarily against ships at sea.

TECHNOLOGY USED- DTMF INTRODUCTION DTMF (dual tone multi frequency) is the signal to the phone company that you generate when you press an ordinary telephone's touch keys. In the United States and perhaps elsewhere, it's known as "Touchtone" phone (formerly a registered trademark of AT&T). DTMF has generally replaced loop disconnect ("pulse") dialing. With DTMF, each key you press on your phone generates two tones of specific frequencies. So that a voice can't imitate the tones, one tone is generated from a high-frequency group of tones and the other from a low frequency group. Here are the signals you send when you press your Touch-tone phone keys Digit 1 2 3 4 Low High frequency frequency 697 1209 Hz 697 1336 697 1477 770 1209

5 770 1336 6 770 1477 7 852 1209 8 852 1336 9 852 1477 0 941 1336 * 941 1209 # 941 1477 1.3.2 KEYPAD The DTMF keypad is laid out in a 44 matrix, with each row representing a low frequency, and each column representing a high frequency. Pressing a single key (such as 1) will send a sinusoidal tone for each of the two frequencies (697 and 1209 hertz (Hz)). The original keypads had levers inside, so each button activated two contacts. The multiple tones are the reason for calling the system multi frequency. These tones are then decoded by the switching center to determine which key was pressed. .3.3 DTMF TONES The sounds used for touch tone dialing are referred to as DTMF (Dual Tone Multiple Frequencies) tones. Each number (as well as the "#" and "*") is represented by a pair of tones. For instance, the number "1" is represented by the frequencies 1209 Hz and 697 Hz. For example, in order to generate the DTMF tone for "1", you mix a pure 697 Hz signal with a pure 1209 Hz signal. Tones #, *, A, B, C, and D The engineers had envisioned phones being used to access computers, and surveyed a number of companies to see what they would need for this role. This led to the addition of the number sign (#, sometimes called 'octothorpe' in this context) and asterisk or "star" (*) keys as well as a group of keys for menu selection: A, B, C and D. In the end, the lettered keys were dropped from most phones, and it was many years before these keys became widely used forvertical service codes such as *67 in the United States and Canada to suppress caller ID. The U.S. military also used the letters, relabelled, in their now defunct AutoVIN phone system. Here they were used before dialling the phone in order to give some calls priority, cutting in over existing calls if need be. The idea was to allow important traffic to get through every time. The levels of priority available were Flash Override (A), Flash (B), Immediate (C), and Priority (D), with Flash Override being the highest priority. Special tone frequencies Event High Low Frequency Frequency

Busy 480 Hz Signal Ringback 440 Hz Tone (US) Dial 350 Hz Tone

620 Hz 480 Hz 440 Hz

National telephone systems define additional tones to indicate the status of lines, equipment, or the result of calls with special tones. Such tones are standardized in each country and may consist of single or multiple frequencies. Most European countries use a single frequency, where the United States uses a dual frequency system, presented in the following table.

were initially designed with a ratio of 21/19, which is slightly less than a whole tone. The frequencies may not vary more than 1.8% from their nominal frequency, or the switching center will ignore the signal. The high frequencies may be the same volume or louder as the low frequencies when sent across the line. The loudness difference between the high and low frequencies can be as large as 3 decibels (dB) and is referred to as "twist." The minimum duration of the tone should be at least 70 ms, although in some countries and applications DTMF receivers must be able to reliably detect DTMF tones as short as 45ms. As with other multi-frequency receivers, DTMF was originally decoded by tuned filter banks. Late in the 20th century most were replaced with digital signal processors. DTMF can be decoded using the Goertzel algorithm 1.3.4 DTMF DECODER CONNECTED TO GSM MODULE It is not easy to detect and recognize DTMF with satisfactory precision. Often, dedicated integrated circuits are used. It is rather complicated, so it is used only marginally. Most often, a MT8870 or compatible circuit would be used. The MT8870 is a complete DTMF receiver integrating both the band split filter and digital decoder functions. The filter section uses switched capacitor techniques for high and low group filters; the decoder uses digital counting techniques to detect and decode all 16 DTMF tone-pairs into a 4bit code. External component count is minimized by on chip provision of a differential input amplifier, clock oscillator and latched three-state bus interface. 1.3.5 FEATURES OF DTMF DECODER

Complete DTMF Receiver

Low power consumption Internal gain setting amplifier Adjustable guard time Central office quality Power-down mode Inhibit mode

Backward compatible with MT8870C and MT8870C-1 1.3.6 APPLICATIONS FOR DTMF DECODERS

Paging systems Repeater systems/mobile radio Credit card systems Remote control Personal computers

Telephone answering machine 2.1 DESIGN Several options were considered for the design of the system. The first option was to send DTMF signals through the cell phone and decode it at the receiving end and control the car. However, since the robot needed to be fully controllable and a DTMF circuit could only send 16 tones at maximum, this idea was not chosen. The other option was to use actual voice commands to control the robot. However the team could not come up with a satisfactory decoding scheme and this idea was not implemented either. The team decided to use another option, which was to send two single-tone frequencies in a continuous manner and decode them at the receiving end. This option worked best with the requirements of the project since the two frequencies sent could be easily adjusted on the transmitter side. This would allow a larger continuous range of frequencies to be used which would allow a full analog range of control for the car. On the receiving end, it would be relatively easy to decode the signal and change it into control signals. The following block diagram summarizes the overall final design that used to solve the problem 2.2 DESCRIPTION BLOCK DIAGRAM

As shown in the above block diagram, Fig 1.2 the over all overview of our project is figured out and description of each component is given below : FIRST BLOCK It is the Cell Phone, which act as a Transmitter and it acts as a DTMF generator with tone depending upon key pressed. According to the key pressed it sends its tone to the receiver side. SECOND BLOCK And at the receiver side i.e. second block there is another cell phone which hear the tones pressed at transmitter side and whatever it hears it send its output to towards third block. THIRD BLOCK It is a DTMF Decoder, i.e., IC M8870 decodes the received tone & gives binary equivalent to the fourth block. i.e. to Microcontroller. FOURTH BLOCK Microcontroller processed the output according to the programming and appropriate output is given to fifth block. FIFTH BLOCK Motor Driver which is basically a H-Bridge made by Relay switches which will drive the four DC Motors connected to it. The concept used for driving is Differential Drive. So, ultimately the four motors rotate according to the key pressed on the keypad of the cell phone. SIXTH AND SEVENTH BLOCK They are DC Motors which will drive by the H-Bridge in order to move SPYROBO from one place to another. 2.3 FLOW CHART OF THE PROJECT OPERATION The operation of our project can be described by the flow chart given below:

2.4 WHY WE ARE USING MOBILE NETWORK FOR CONTROLLING THE ROBOT?

 Wireless-controlled robots use Radio frequency circuits, which have the drawbacks of limited working range, limited frequency range and the limited control. Mobile phone for robotic control can overcome these limitations and provides the advantage of robust control, working range as large as the coverage area of the service provider, no interference with other controllers. 2.5 ADVANTAGES This project has advantages over other remote controlled devices; It has unlimited operating range because mobile network is worldwide. It has little noise interference. It has large bandwidth.

2.6 APPLICATIONS SCIENTIFIC Remote control vehicles have various scientific uses including hazardous environments, working in theDeep Ocean, and space exploration. The majority of the probes to the other planets in our solar system have been remote control vehicles, although some of the more recent ones were partially autonomous. The sophistication of these devices has fuelled greater debate on the need for manned spaceflight and exploration. The Voyager I spacecraft is the first craft of any kind to leave the solar system. The Martian explorers Spirit and Opportunity have provided continuous data about the surface of Mars since January 3, 2004. MILITARY AND LAW ENFORCEMENT SEARCH AND RESCUE RECREATION AND HOBBY DESIGN ASPECTS For the designing of our project we require we some specific hardware and software and then interfacing the components each other to accomplish the task required by our project . Hence our mainly consist of two parts1. Hardware 2. Software

3.1 HARDWARE REQUIREMENTS The main components of the hardware section of our project is given as: Microcontroller (PIC 16F72) Crystal Oscillator (4 MHz) DTMF decoder IC(MT8870) Motor driver (H-bridges using Relay switches) DC Motor Optocouplers Voltage Regulator (IC 7805) Head-phone Wireless Camera TV Tuner Card Resistors Capacitors Transistors LEDs The hardware components is described in sub-section below one by one and there interfacing with each other. 3.1.1 MICRO CONTROLLER A microcontroller is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals. We are using microcontroller of Microchip Company which is controller of PIC series called as PIC16F72. The description of this controller is given below. 3.1.1.1 PIC16F72 High Performance RISC CPU Only 35 single word instructions to learn All single cycle instructions except for program branches, which are two-cycle Operating speed: DC - 20 MHz clock input, DC - 200 ns instruction cycle 2K x 14 words of Program Memory,128 x 8 bytes of Data Memory (RAM) Pin out compatible to PIC16C72/72A and PIC16F872. Interrupt capability. Eight-level deep hardware stack Direct, Indirect and Relative Addressing modes.

Peripheral features: High Sink/Source Current: 25 mA Timer0: 8-bit timer/counter with 8-bit prescaler Timer1: 16-bit timer/counter with prescaler, can be incremented during SLEEP via external crystal/clock Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler Capture, Compare, PWM (CCP) module 8-bit, 5-channel analog-to-digital converter Synchronous Serial Port (SSP) with SPI (Master/Slave) and I2C (Slave) Brown-out detection circuitry for Brown-out Reset (BOR) Special Microcontroller features: 1,000 erase/write cycle FLASH program memory typical Power-on Reset (POR), Power-up Timer (PWRT) and Oscillator Start-up Timer (OST) Watchdog Timer (WDT) with its own on-chip RC oscillator for reliable operation Programmable code protection Power saving SLEEP mode Selectable oscillator options In-Circuit Serial Programming (ICSP) via 2 pins Processor read access to program memory.

Key Reference Manual Features Operating Frequency RESETS and (Delays) FLASH Program Memory - (14-bit words, 1000 E/W cycles) Data Memory - RAM (8-bit bytes) Interrupts I/O Ports Timers Capture/Compare/PWM Modules Serial Communications 8-bit A/D Converter Instruction Set (No. of Instructions)

PIC16F72 DC - 20 MHz POR, BOR, (PWRT, OST) 2K

128 8 PORTA, PORTB, PORTC Timer0, Timer1, Timer2 1 SSP 5 channels 35