A PROJECT REPORT

ON

“OBSTACLE AVOIDING ROBOT”

SUBMITTED BY

OMKAR REVAJE
AKASH UTPURE
KAJAL DHAMAL
SANJAY GUPTA

UNDER THE GUIDENCE OF

Mrs. SANTHI M. LAGHUDUVA

DEPARTMENT OF INDUSTRIAL ELECTRONICS

VPM’s POLYTECHNIC
CHENDANI BUNDER ROAD, THANE (400601)
2017-18
MAHARASHTRA STATE BOARD OF TECHNICAL
EDUCATION
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ACKNOWLEDGEMENT
We have great pleasure to convey our gratitude to Prof. D. K. Nayak, Principal, and VPM’s
POLYTECHNIC for permitting to do this project.

We express our heartiest gratitude and respectful regards to Mrs. K. S. Agashe, Head of
Industrial Electronics Department, and VPM’s POLYTECHNIC for her support and
encouragement while doing the project.

We express our profound sense of gratitude to our internal guide Mrs. Santhi M. Laguduva,
Lecturer of IE Department for her valuable guidance, constructive criticism and consistent
enthusiastic interest during the case of investigation.

We regard our sincere thanks to Mr. Bhore sir he help us during the project and made our
project successful.

Last but not the least our special thanks to our parents and friends for their support and
constant encouragement during the project work.

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TABLE OF CONTENTS
ACKNOWLEDGEMENT ..................................................................................................................... II
TABLE OF CONTENTS...................................................................................................................... III
LIST OF FIGURES .............................................................................................................................. IV
1 INTRODUCTION .......................................................................................................................... 2
1.1 INTRODUCTION .................................................................................................................. 2
2 BLOCK DIAGRAM AND OPERATION ...................................................................................... 4
2.1 BLOCK DIAGRAM ............................................................................................................... 4
2.2 OPERATION DIAGRAM ...................................................................................................... 5
3 CIRCUIT DIAGRAM .................................................................................................................... 7
4 PCB DESIGN ............................................................................................................................... 10
5 SOFTWARE ................................................................................................................................. 12
5.1 ALGORITHM OF PROGRAM ............................................................................................ 12
5.2 FLOWCHART ...................................................................................................................... 13
5.3 PROGRAM ........................................................................................................................... 14
5.4 SOFTWARE USED: ............................................................................................................ 22
6 CONCLUSION ............................................................................................................................. 24
6.1 ADVANTAGES ................................................................................................................... 24
6.2 LIMITATIONS ..................................................................................................................... 24
6.3 APPLICATIONS .................................................................................................................. 24
6.4 FUTURE SCOPE.................................................................................................................. 25
7 COMPONENT LIST .................................................................................................................... 27
8 APPENDIX I: DATASHEETS.................................................................................................... 29
9 BIBLIOGRAPHY ............................................................................................................................ 43
EXTENDED FORMAT........................................................................................................................ 44

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LIST OF FIGURES
Figure 1: Obstacle Avoiding Robot …………………………………………………………. 2

Figure 2: Block Diagram of Obstacle Avoiding Robot …………………………………….... 4

Figure 3: Circuit Diagram of Obstacle Avoiding Robot …………………………………….. 7

Figure 4: PCB Layout of Obstacle Avoiding Robot ……………………………………….. 10

Figure 5: Flowchart of Obstacle Avoiding Robot ………………………………………….. 13

Figure 6: Arduino Software ………………………………………………………………… 22

Figure 7: Arduino UNO ………………………………………………………………….... 29

Figure 8: Ultra-Sonic Sensor HC-SR04 ……………………………………………………. 32

Figure 9: Servo Motor SG90 ……………………………………………………………….. 34

Figure 10: L293D Motor Drive …………………………………………………………….. 36

Figure 11: Pin Direction of IC ……………………………………………………………… 37

Figure 12: Block Diagram of IC ……………………………………………………………. 37

Figure 13: DC Motor 100rpm ……………………………………………………………… 39

Figure 14: 9V Battery ………………………........................................................................ 41

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CHAPTER
1
INTRODUCTION

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1 INTRODUCTION
1.1 Introduction

Figure 1: Obstacle Avoiding Robot

Now a day’s Robotics is part of today’s communication & communication is part of

advancement of technology, so we decided to work on ROBOTICS field, and design
something which will make human life today’s aspect. There are different types of mobile
robots which can be divided into several categories consists of wheeled robot, crawling robot
and legged robot. This project deals with a wheeled autonomous ROBOT. It is the part of
Automation; Robot has sufficient intelligence to cover the maximum area. This robot uses
infrared sensor to detect the obstacle in between the path and then avoid them to completes its
objective. The IR transmitter continuously generate an Infrared signal of 38KHz,when an
obstacle comes in the path the infrared signal reflected back from the object and is received
by the IR sensor TSOP1738 and then generate a positive high signal with the help of the
receiver circuit that is there is an obstacle in the path. In such a way the robot is able to detect
obstacles of provided space and able to avoid obstacles coming in between the path of
ROBOT with the help microcontroller board and complete its journey. The main motto of
designing such type of Robot or the technology is that this technology can be used in today’s
very fast transportation to avoid the accident generally happen in congested or the Metro
Politian Areas by applying emergency break. If we use this technology in the car or any
vehicle, it will automatically sense the obstacles then it will take a side to the available free
space. An obstacle may be a living things or any object. Autonomous Intelligent Robots are
robots that can perform desired tasks in unstructured environments without continuous
human guidance. Thus by using this technology in vehicles we make the drive safe.

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CHAPTER
2
BLOCK DIAGRAM

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2 BLOCK DIAGRAM AND OPERATION

2.1 Block Diagram

Figure 2: Block Diagram of Obstacle Avoiding Robot

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2.2 Operation Diagram

 Sensor part:-The sensors used in this robot are Infrared sensor, consisting two part
infrared signal generator and the IR receiver designed in single PCB. There are two
sensors are used as left side sensor and right side sensor and two sensors are used to
sense the obstacle on left and right side.

 IR Generator :-This is a Monostable multivibrator using NE555 IC generating

Infrared Signal of 38KHz frequency for better determination of the object. By using a
variable resistance we can adjust the frequency of the IR signal, detector TSOP1738,
gives a high output
 IR Detector :-IR detector circuit is a circuit which gives a low output in absence of IR
signal When some obstacle come in path IR signal reflected back and fall onto the IR
detector. In such a way that obstacle are detected.
 Motor driver L293D, decide which motor will be in motion or stop in according to the
incoming signal from the Arduino.
 Arduino:-Microcontroller is programmed to avoid the obstacle, when it get a signal
from sensor then by processing this signal drive the motor driver accordingly
,according to the incoming signal of sensors microcontroller decide either left or right
motor should move. In such a way the Robot works.

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CHAPTER
3
CIRCUIT DIAGRAM

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3 CIRCUIT DIAGRAM

Figure 3: Circuit Diagram of Obstacle Avoiding Robot

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Operation:

The obstacle avoidance robotic vehicle uses ultrasonic sensors for its movements. A
microcontroller of 8051 family is used to achieve the desired operation. The motors are
connected through motor driver IC to microcontroller. The ultrasonic sensor is attached in
front of the robot.
Whenever the robot is going on the desired path the ultrasonic sensor transmits the ultrasonic
waves continuously from its sensor head. Whenever an obstacle comes ahead of it the
ultrasonic waves are reflected back from an object and that information is passed to the
microcontroller. The microcontroller controls the motors left, right, back, front, based on
ultrasonic signals. In order to control the speed of each motor pulse width modulation is used
(PWM).

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CHAPTER
4
PCB DESIGN

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4 PCB DESIGN

Figure 4: PCB Layout of Obstacle Avoiding Robot

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CHAPTER
5
SOFTWARE

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5 SOFTWARE
5.1 Algorithm of Program
A brief overview of the software function and the system architecture is shown in Figure 5 to clarify
the cyclic phase rotation for robot movement. From the flowchart, the calling sequence and the
relationship between the functions are visualized. The algorithm and corresponding flowchart has
been shown here.

1.Start

2. Check either switch (p1.6) is on or off

3. If on then go to next step4, otherwise rotate at the same step.

4. Initialize the input port (P3) & output port(P1).

5.Set the bit of port pin 1.0 and pin1.1

6. Read data from port 3.

7. Check the bit on p3.0

8. If bit is present move left motors in Forward direction and stop the right motor, else go to
next step9

9. Check the bit in p3.2

10. If bit is present on pin p3.2,then move right motor in forward direction until we get high
signal on pin p3.2&stop left motor.

11.Again go to step 6.

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5.2 Flowchart

START

CHECK START
SINGNAL?

INITIALISING I/O PORT

SET DIRECTION OF ROBOT

LEFT/RIGHT

IS OBSTACLE
DETECTED?

ROBOT GOES IN FORWARD DIRECTION

STOP

Figure No 5: Flowchart of Obstacle Avoiding Robot

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5.3 Program

#include <Servo.h> // Includes servo library.

// defines pins numbers

const int trigPin = 9;

const int echoPin = 8;

const int lm1=7;

const int lm2=6;

const int rm1=5;

const int rm2=4;

const int servoPin=10;

Servo myservo;

// defines variables

long duration;

int distance;

int distance_f;

int distance_r;

int distance_l;

int maxLowDistance=70;

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void setup() {

pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

pinMode(echoPin, INPUT); // Sets the echoPin as an Input

pinMode(lm1,OUTPUT);

pinMode(lm2,OUTPUT);

pinMode(rm1,OUTPUT);

pinMode(rm2,OUTPUT);

myservo.attach(servoPin);

myservo.write(90);

Serial.begin(9600); // Starts the serial communication

void loop() {

distance_f=ping();

if(distance_f > maxLowDistance){

front();

delay(400);

}else{

Break();

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get_Distance();

if(distance_r > maxLowDistance){

right();

delay(400);

front();

}else if(distance_l > maxLowDistance){

left();

delay(400);

front();

}else{

back();

delay(400);

Break();

void displayDistance(){

Serial.print("Right Distance : ");

Serial.print(distance_r);

Serial.println("");

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Serial.print("Front Distance : ");

Serial.print(distance_f);

Serial.println("");

Serial.print("Left Distance : ");

Serial.print(distance_l);

Serial.println("");

void front(){

Serial.println("Forward Move");

digitalWrite(lm2,HIGH);

digitalWrite(rm2,HIGH);

digitalWrite(lm1,LOW);

digitalWrite(rm1,LOW);

void back(){

Serial.println("Back Move");

digitalWrite(lm1,HIGH);

digitalWrite(rm1,HIGH);

digitalWrite(lm2,LOW);

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digitalWrite(rm2,LOW);

void left(){

digitalWrite(rm2,HIGH);

digitalWrite(rm1,LOW);

digitalWrite(lm1,HIGH);

digitalWrite(lm2,LOW);

void right(){

digitalWrite(lm2,HIGH);

digitalWrite(lm1,LOW);

digitalWrite(rm1,HIGH);

digitalWrite(rm2,LOW);

void Break(){

digitalWrite(lm2,LOW);

digitalWrite(lm1,LOW);

digitalWrite(rm1,LOW);

digitalWrite(rm2,LOW);

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void get_Distance(){

myservo.write(0);

delay(500);

int temp_r1=ping();

myservo.write(45);

delay(500);

int temp_r2=ping();

if(temp_r1<temp_r2){

distance_r=temp_r1;

}else{

distance_r=temp_r2;

myservo.write(90);

delay(500);

distance_f=ping();

myservo.write(135);

delay(500);

int temp_l1=ping();

myservo.write(180);

delay(500);

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int temp_l2=ping();

if(temp_l1<temp_l2){

distance_l=temp_l1;

}else{

distance_l=temp_l2;

myservo.write(90);

int ping(){

// Clears the trigPin

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

// Sets the trigPin on HIGH state for 10 micro seconds

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

// Reads the echoPin, returns the sound wave travel time in microseconds

duration = pulseIn(echoPin, HIGH);

// Calculating the distance

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distance= duration*0.034/2;

// Prints the distance on the Serial Monitor

return distance;

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5.4 Software Used:

Arduino

Figure 6: Arduino Software

Arduino is an open source computer hardware and software company, project, and user
community that designs and manufactures single-board
microcontrollers and microcontroller kits for building digital devices and interactive objects
that can sense and control objects in the physical world. The project's products are distributed
as open-source hardware and software, which are licensed under the GNU Lesser General
Public License (LGPL) or the GNU General Public License (GPL), permitting the
manufacture of Arduino boards and software distribution by anyone. Arduino boards are
available commercially in preassembled form, or as do-it-yourself (DIY) kits.
Arduino board designs use a variety of microprocessors and controllers. The boards are
equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to
various expansion boards (shields) and other circuits. The boards feature serial
communications interfaces, including Universal Serial Bus (USB) on some models, which are
also used for loading programs from personal computers. The microcontrollers are typically
programmed using a dialect of features from the programming languages C and C++. In
addition to using traditional compiler toolchains, the Arduino project provides an integrated
development environment (IDE) based on the Processing language project.
The Arduino project started in 2003 as a program for students at the Interaction Design
Institute Ivrea in Ivrea, Italy, aiming to provide a low-cost and easy way for novices and
professionals to create devices that interact with their environment
using sensors and actuators. Common examples of such devices intended for beginner
hobbyists include simple robots, thermostats, and motion detectors.

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CHAPTER
6
CONCLUSION

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6 CONCLUSION

6.1 Advantages

 Whenever it senses any obstacle it automatically diverts its path to left and right
and follows the path without human guidance.
 The programing of the microcontroller is easy.
 It is low cost circuit

6.2 Limitations

 It is time consuming project.

 It is used for short distance only.
 It not recommended to keep the range very long because this would cause the robot to
keep moving forward and backward as it senses any obstacle, even far away from it.
 It is not in human control.

6.3 Applications

 This logic has been specially designed for vacuum cleaner. By using heavy rating
motors, strong mechanical structure and using highly sensitive obstacle sensors, it
efficiently work as vacuum cleaner.

 Just by making small changes in software this system can be used for avoiding
concealed paths. This robot can effectively sense the obstacles and find out correct
path.

 With proper programming we can use it as a weight lifter.

 In Mines.

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6.4 Future Scope

The project uses µc P89V51RD2 as the controlling element. It uses IR (Infra Red) sensors
and two IR transmitting circuitry. When the obstacle comes in path of robot IR beam is
reflected from the obstacle then sensor gives zero voltage to µc. This zero voltage is detected
then µc decides to avoid the obstacle by taking left or right turn. If the sensor gives +5v to µc
that means there is no obstacle present in it path so it goes straight until any obstacle is
detected. The two IR transmitter circuits are fitted on front and left side of robot. The two IR
sensors are placed near to transmitters’ IR LEDs. The connections can be given from main
circuit to sensors using simple twisted pair cables. Two motors namely right motor and left
motor are connected to driver IC (L293D). L293D is interface with µc. Micro-controller
sends logic 0 & logic 1 as per the programming to driver IC which moves motors forward or
reverse direction

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CHAPTER
7
COMPONENT LIST

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7 COMPONENT LIST

Sr No. Description Quantity

1. Arduino Uno 1
2. Ultra-sonic Sensor HC-SR04 1
3. Servo Motor SG90 1
4. DC Motor 100rpm 4
5. Robotic wheels 4
6. L293D Motor Drive 1
7. Bread Board 1
8. 9V Battery 1

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CHAPTER
8
APPENDIX
DATASHEETS

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APPENDIX I: DATASHEETS
Arduino UNO:

Figure 7: Arduino UNO

The Arduino Uno is a microcontroller board based on the AT mega 328(datasheet). It has 14
digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset button.
It contains everything needed to support the microcontroller; simply connect it to a computer
with a USB cable or power it with a AC-to-DC adapter or battery to get started. The Uno
differs from all preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it features the AT mega 16U2 (Atmega8U2up to version R2) programmed as a USB-
to-serial converter.

Summary:

Microcontroller ATmega328

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 14 (of which 6 provide PWM output)

Analog Input Pins 6

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Flash Memory 32 KB (ATmega328) of which 0.5 KB used by

Boot loader

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SRAM 2 KB (ATmega328)

EEPROM 1 KB (ATmega328) Clock Speed 16 MHz

Power:

The Arduino Uno can be powered via the USB connection or with an external power supply.
The power source is selected automatically. External (non-USB) power can come either from
an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by plugging a
2.1mm center-positive plug into the board's power jack. Leads from a battery can be inserted
in the Gnd and Vin pin headers of the POWER connector. The board can operate on an
external supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may
supply less than five volts and the board may be unstable. If using more than 12V, the voltage
regulator may overheat and damage the board. The recommended range is 7 to 12 volts. The
power pins are as follows:

 VIN. The input voltage to the Arduino board when it's using an external power source (as
opposed to 5 volts from the USB connection or other regulated power source). You can
supply voltage through this pin, or, if supplying voltage via the power jack, access it through
this pin.

 5V.This pin outputs a regulated 5V from the regulator on the board. The board can be
supplied with power either from the DC power jack (7 - 12V), the USB connector (5V), or
the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins bypasses the
regulator, and can damage your board. We don't advise it.

 3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50
mA.

 GND. Ground pins.

Automatic (Software) Reset:

Rather than requiring a physical press of the reset button before an upload, the Arduino Uno
is designed in a way that allows it to be reset by software running on a connected computer.
One of the hardware flow control lines (DTR) of the ATmega8U2/16U2 is connected to the
reset line of the ATmega328 via a 100 Nano farad capacitor. When this line is asserted (taken
low), the reset line drops long enough to reset the chip. The Arduino software uses this
capability to allow you to upload code by simply pressing the upload button in the Arduino
environment. This means that the bootloader can have a shorter timeout, as the lowering of
DTR can be well-coordinated with the start of the upload. This setup has other implications.
When the Uno is connected to either a computer running Mac OS X or Linux, it resets each
time a connection is made to it from software (via USB). For the following halfsecond or so,
the bootloader is running on the Uno. While it is programmed to ignore malformed data (i.e.
anything besides an upload of new code), it will intercept the first few bytes of data sent to

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the board after a connection is opened. If a sketch running on the board receives one-time
configuration or other data when it first starts, make sure that the software with which it
communicates waits a second after opening the connection and before sending this data. The
Uno contains a trace that can be cut to disable the auto-reset. The pads on either side of the
trace can be soldered together to re-enable it. It's labeled "RESET-EN". You may also be able
to disable the auto-reset by connecting a 110 ohm resistor from 5V to the reset line; see this
forum thread for details.

USB Overcurrent Protection:

The Arduino Uno has a resettable poly face that protects your computer's USB ports from
shorts and overcurrent. Although most computers provide their own internal protection, the
fuse provides an extra layer of protection. If more than 500 mA is applied to the USB port,
the fuse will automatically break the connection until the short or overload is removed.

Physical Characteristics:

The maximum length and width of the Uno PCB are 2.7 and 2.1 inches respectively, with the
USB connector and power jack extending beyond the former dimension. Four screw holes
allow the board to be attached to a surface or case. Note that the distance between digital pins
7 and 8 is 160 mil (0.16"), not an even multiple of the 100 mil spacing of the other pins.

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Ultra-sonic Sensor HC-SR04:

Figure 8: Ultra-Sonic Sensor HC-SR04

Ultrasonic Definition:

The human ear can hear sound frequency around 20HZ ~ 20KHZ, and ultrasonic is the sound
wave beyond the human ability of 20 KHz.

Ultrasonic distance principle:

Ultrasonic transmitter emitted an ultrasonic wave in one direction, and started timing when it
launched. Ultrasonic spread in the air, and would return immediately when it encountered
obstacles on the way. At last, the ultrasonic receiver would stop timing when it received the
reflected wave. As Ultrasonic spread velocity is 340m / s in the air, based on the timer record
t, we can calculate the distance (s) between the obstacle and transmitter, namely: s = 340t / 2,
which is so- called time difference distance measurement principle The principle of ultrasonic
distance measurement used the already-known air spreading velocity, measuring the time
from launch to reflection when it encountered obstacle, and then calculate the distance
between the transmitter and the obstacle according to the time and the velocity. Thus, the
principle of ultrasonic distance measurement is the same with radar. Distance Measurement
formula is expressed as: L = C X T In the formula, L is the measured distance, and C is the
ultrasonic spreading velocity in air, also, T represents time (T is half the time value from
transmitting to receiving).

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Ultra-sonic Applications:

Ultrasonic Application Technology is the thing which developed in recent decades. With the
ultrasonic advance, and the electronic technology development, especially as high-power
semiconductor device technology matures, the application of ultrasonic has become
increasingly widespread:

 Ultrasonic measurement of distance, depth and thickness;

 Ultrasonic testing;
 Ultrasound imaging;
 Ultrasonic machining, such as polishing, drilling;
 Ultrasonic cleaning;
 Ultrasonic welding;

Product Features:

 Stable performance
 Accurate distance measurement
 High-density
 Small blind

Application Area:

 Robotics barrier
 Object distance measurement
 Level detection
 Public security
 Parking detection

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Servo Motor SG90:

Figure 9: Servo Motor SG90

Tiny and lightweight with high output power. Servo can rotate approximately 180 degrees
(90 in each direction), and works just like the standard kinds but smaller. You can use any
servo code, hardware or library to control these servos. Good for beginners who want to
make stuff move without building a motor controller with feedback & gear box, especially
since it will fit in small places. It comes with a 3 horns (arms) and hardware

Specifications:

• Weight: 9 g

• Dimension: 22.2 x 11.8 x 31 mm approx.

• Stall torque: 1.8 kgf·cm

• Operating speed: 0.1 s/60 degree

• Operating voltage: 4.8 V (~5V)

• Dead band width: 10 µs

• Temperature range: 0 ºC – 55 ºC

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Basic Information:

Modulation : Analog

Torque : 4.8V: 25.0 oz-in (1.80 kg-cm)

Speed : 4.8V: 0.10 sec/60°

Weight : 0.32 oz (9.0 g)

Dimensions : Length: 0.91 in (23.1 mm)

Width: 0.48 in (12.2 mm)

Height: 1.14 in (29.0 mm)

Motor Type : 3-pole

Gear Type : Plastic

Rotation/Support: Bushing

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L293D Motor Drive:

Figure 10: L293D Motor Drive

DESCRIPTION :

The Device is a monolithic integrated high voltage, high current four channel driver designed
to accept standard DTL or TTL logic levels and drive inductive loads (such as relays
solenoids, DC and stepping motors) and switching power transistors. To simplify use as two
bridges each pair of channels is equipped with an enable input. A separate supply input is
provided for the logic, allowing operation at a lower voltage and internal clamp diodes are
included. This device is suitable for use in switching applications at frequencies up to 5 kHz.
The L293D is assembled in a 16 lead plastic package which has 4 center pins connected
together and used for heat sinking The L293DD is assembled in a 20 lead surface mount
which has 8 center pins connected together and used for heat sinking.

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Pin Direction:

Figure 11: Pin Direction of IC

Thermal Data:

Block Diagram:

Figure 12: Block Diagram of IC

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Electrical Characteristics:

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12V DC Motor 100rpm:

Figure 13: DC Motor 100rpm

Japan Servo’s DC Miniature Motors are widely used in a variety of application fields, from
copiers and other office equipment, to remote-controlled equipment, medical equipment,
vending machines, and game machines. These motors may be combined with Japan Servo’s
full line of gearheads to meet a wide range of torque and output speed specifications. Japan
Servo provides a practical and economic choice as drive actuators. Strict quality control
ensure reliable performance as well as prompt delivery at reasonable price. Japan Servo
provides a full variation line-up of stock model and customized design motors to best meet
your specific application needs.

Features:

 12V – 200RPM
 3.6KG•CM torque DC gearhead motor
 30:1 Gear Ratio
 2mm rear encoder shaft
 Good compromise between speed and torque for small robotic designs

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Disclaimer of Liability and Accuracy:

Information provided by Solutions Cubed is believed to be accurate and reliable. However,

Solutions Cubed assumes no responsibility for inaccuracies or omissions. Solutions Cubed
assumes no responsibility for the use of this information and all use of such information shall
be entirely at the user’s own risk.

Life Support Policy:

Solutions Cubed does not authorize any Solutions Cubed product for use in life support
devices and/or systems without express written approval from Solutions Cubed.

Warrantee:

Solutions Cubed warrants all products against defects in materials and workmanship for a
period of 90 days. If you discover a defect, we will, at our option, repair or replace your
product or refund your purchase price. This warrantee does not cover products that have been
physically abused or misused in any way.

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9V Battery:

Figure 13: 9V Battery

Specifications:

Classification : Alkaline

Chemical System : Zinc-Manganese Dioxide (Zn/MnO2 ) No added mercury or cadmium

Designation : IEC-6LF22 ANSI-1604A

Nominal Voltage : 9.0 volts

Operating Temp : -18°C to 55°C

Typical Weight : 45.0 grams (1.58 oz.)

Typical Volume : 21.1 cubic centimeters Shelf

Life : 5 years at 21°C Terminal: Miniature Snap

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CHAPTER
9
BIBLIOGRAPHY

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9 BIBLIOGRAPHY
 N. Senthil Kumar, M. Saravanan, S Jeebananthan ,“Microprocessors &
Microcontrollers”, Oxford University Press,4th Edition,2012,ISBN:978-0- 19-
806647-7
 B. Ram, “Fundamental of Microprocessors & Microcontrollers”, Dhanpat Rai
Publication, Seventh Edition, ISBN:978-81-89928-60-5
 M. C. Lam, A. S. Prabuwono, H. Arshad, C. S. Chan, “A Real-Time Vision-Based
Framework for Human-Robot Interaction”, , 7066Lecture Notes .in Computer Science
(Part 1),2011, pp. 257-267, IVIC 2011.
 T. Ishida, and Y. Kuroki, “Sensor System of a small Biped Entertainment Robot”,
Advanced Robotics, © VSP and Robotics Society of Japan,Vol. 18, No. 10, pp 1039-
1052, 2004,.
 Maikoto T., Koji Y., and Satoshi E., “Studies on Forward Motion of Five Legs
Robot”, Journal Code: L0318B 2005, 2P1-S-065, 2005.
 Proceedings of Cooperative Intelligent Robotics in space-II SPIE vol. 1612, Boston,
Nov 1991.
 R. A Besari, R. Zamri, A. S. Prabuwono, and S. Kuswadi, “The Study on Optimal
Gait for Five-Legged Robot with Reinforcement Learning”, Intelligent .Robotics and
Applications, , Vol. 5928, pp. 1170-1175, 2009.

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Extended Format
Acknowledgement
Table of Contents
List of Figures

1. Introduction
1.1. Aims
1.2. Objectives
1.3. Scope
1.4. Report Structure

2. Background Research

3. Design Specification

4. The System
1. Introduction
2 Block Diagram
Block Diagram
Operation Diagram
3 Circuit Diagram
4 PCB Design
5 Software
Algorithm of Program
Flowchart
Program

5. Testing

6. Results and Analysis

7. Conclusions
Advantages
Limitations
Applications
Future Scope

8 Component List
9 Bibliography

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