PICK AND PLACE ROBOT BY USING VOICE

AND GESTURE

A Design Thinking and Innovation Project Report

Submitted in partial fulfillment of Requirements for the

Design Thinking and Innovation Laboratory External Work
II [Link] II SEMESTER

ELECTRONICS AND COMMUNICATION ENGINEERING

By

[Link] (248A1A0406)

Under the Esteemed Guidance of

[Link], M. Tech. (Ph.D )
Associate Professor

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

RISE KRISHNA SAI PRAKASAM GROUP OF INSTITUTIONS, VALLURU

(Affiliated to JNTUK, Kakinada & Approved By AICTE, New Delhi)
NBA Accredited & ISO 9001:2015 Certified Institute
2025- 2026
 RISE KRISHNA SAI PRAKASAM GROUP OF INSTITUTIONS, VALLURU
(Affiliated to JNTUK, Kakinada & Approved By AICTE, New Delhi) An ISO
9001:2015 Certified Institute

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

CERTIFICATE

This is to certify that the DTI project work entitled “PICK AND PLACE A ROBOT
BY VOICE AND GESTURE” is a bonafide record of project work done jointly by
[Link] (248A1A0406), under my guidance and supervision and is submitted in partial
fulfilment of the requirements for the Design Thinking and Innovation Laboratory External
Work during the academic year 2025- 2026.

PROJECT GUIDE HEAD OF THE DEPARTMENT

[Link], Dr. CH. VenuGopal Reddy M.E, Ph.D.,
MTech,(Ph.D) Professor & HOD
Associate Professor Dept. of ECE

Dept. of ECE

EXTERNAL EXAMINER
 ACKNOWLEDGEMENT

We would like to express our sincere gratitude to our guide, Mr.D,SYAMBABU

,[Link], Electronics and Communication Engineering, for providing his invaluable
guidance, comments, suggestions and support throughout the course of the DTI project.

We express our heart filled thanks to Dr. CH. VenuGopal Reddy, Head of the Department,
Electronics and Communication Engineering, for his valuable support to bring out this project in
time.

We pay our profound sense of gratitude to our Principal Prof. Dr. A.V. Bhaskara Rao for
providing an excellent environment in our college and helping us at all points for achieving our task.

We express our sincere thanks to the Management of RISE Krishna Sai Prakasam Group
of Institutions, Valluru for providing a good environment and infrastructure.

Finally we thank all our faculty members, supporting staff of ECE Department and friends
for their kind co-operation and valuable help for the completion of the project.

Project Associates

[Link] (248A1A0406)
 RISE KRISHNA SAI PRAKASAM GROUP OF INSTITUTIONS::ONGOLE
(APPROVED BY AICTE-NEW DELHI, AFFILIATED TO JNTUK KAKINADA)
AN ISO 9001:2015 CERTIFIED INSTITUTE

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

To be a premier institution in technical education by creating

Vision of the
professionals of global standards with ethics and social
Institute
responsibility for the development of the nation and the mankind.
Impart Outcome Based Education through well qualified and dedica
faculty.
Provide state-of-the-art infrastructure and facilities for
application-oriented research.
Reinforce technical skills with life skills and entrepreneurship
Mission of the skills.
Institute Promote cutting-edge technologies to produce industry-ready
professionals.
Facilitate interaction with all stakeholders to foster ideas and
innovation.
Inculcate moral values, professional ethics and social
responsibility.
To become a center of excellence in Electronics and
Vision of the
Communication Engineering to meet the global, technological
Department
and industrial requirements
Provide modern technical knowledge, professional skills and
attitude to meet industry needs.
Mission of the Promote innovations through professional training and
Department
development.
Develop a team with professional ethics and social responsibility.

Program Educational Objectives (PEOs)

Graduates of the program will be able to
Intensive and extensive engineering knowledge and skill to
PEO1: understand, analyze, design and create novel products and
Core Skills solutions in the field of Signal Processing, Communication
Systems, Embedded Systems and VLSI.
PEO2:
Capability to pursue career in industry or higher studies with
Problem Solving and
continuous learning.
Lifelong Learning
PEO3: Leadership qualities, team spirit, multi-disciplinary approach,
Entrepreneurship character moulding and lifelong learning for a successful
Skills professional career.
PEO4: Professional and ethical attitude, effective communication skills,
Professionalism and sense of responsibility towards society.
Program Outcomes (POs):

Engineering Knowledge: Apply the knowledge of mathematics, science, engineering

PO1 fundamentals, and an engineering specialization to the solution of complex engineering
problems.
Problem Analysis: Identify, formulate, review research literature, and analyze complex
PO2 engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences.
Design/Development of Solutions: Design solutions for complex engineering problems
and design system components or processes that meet the specified needs with appropriate
PO3
consideration for the public health and safety, and the cultural, societal, and environmental
considerations.
Conduct Investigations of Complex Problems: Use research-based knowledge and
PO4 research methods including design of experiments, analysis and interpretation of data, and
synthesis of the information to provide valid conclusions.
Modern Tool Usage: Create, select, and apply appropriate techniques, resources, and
PO5 modern engineering and IT tools including prediction and modeling to complex
engineering activities with an understanding of the limitations.
The Engineer and Society: Apply reasoning informed by the contextual knowledge to
PO6 assess societal, health, safety, legal and cultural issues and the consequent responsibilities
relevant to the professional engineering practice.
Environment and Sustainability: Understand the impact of the professional engineering
PO7 solutions in societal and environmental contexts, and demonstrate the knowledge of, and
need for sustainable development.
Ethics: Apply ethical principles and commit to professional ethics and responsibilities and
PO8
norms of the engineering practice.
Individual and Team Work: Function effectively as an individual, and as a member or
PO9
leader in diverse teams, and in multidisciplinary settings.
Communication: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend and
PO10
write effective reports and design documentation, make effective presentations, and give
and receive clear instructions.
Project Management and Finance: Demonstrate knowledge and understanding of the
PO11 engineering and management principles and apply these to one’s own work, as a member
and leader in a team, to manage projects and in multidisciplinary environments.
Life-long Learning: Recognize the need for, and have the preparation and ability to
PO12 engage in independent and life-long learning in the broadest context of technological
change.

Program Specific Outcomes (PSOs):

A student of the Electronics and Communication Engineering Program will be able to

Design and implementation of complex systems by applying basic concepts in

PSO1 Electronics & Communication Engineering to Electronics, Communications, Signal
Processing, VLSI, Embedded Systems (Core Skills).
Solve complex Electronics and Communication Engineering problems, using hardware
PSO2 and software tools, along with analytical skills to arrive cost effective and appropriate
solutions relevant to the society (Problem-Solving Skills).
Quality in technical subjects for successful higher studies and employment (Professional
PSO3
Career).
 RISE KRISHNA SAI PRAKASAM GROUP OF INSTITUTIONS::ONGOLE
(Approved by AICTE-NEW DELHI, Affiliated to JNTUK
KAKINADA) NBA Accrediated and ISO 9001:2015 Certified
Institute
NH-16, Valluru,-523272, Ongole, Prakasam District, A.P
Department of Electronics and Communication Engineering
II [Link] II Semester DTI Project Outcomes

Branch/Sec: ECE-1 A.Y: 2025-26

After completing this course the student must be able to

Course outcome
Co. No BTL
After completing this course the student must be able to

C229.1 Envisaging applications for societal needs Evaluating

C229.2 Develops skills for analysis and synthesis of practical systems Creating

C229.3 Acquire the use of new tools effectively and creatively Creating

Work in team to carry out analysis and cost-effective,

C229.4 Creating
environmental friendly designs of engineering systems
Write Technical / Project reports and oral presentation of the
C229.5 Evaluating
work done to an audience

C229.6 Demonstrate a product developed Creating

Project Coordinator HOD

 RISE KRISHNA SAI PRAKASAM GROUP OF INSTITUTIONS::ONGOLE
(APPROVED BY AICTE-NEW DELHI, AFFILIATED TO JNTUK KAKINADA)
AN ISO 9001:2015 CERTIFIED INSTITUTE

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Name of the Course : DTI Project Year & Semester : II Year II

Academic Year : 2025-2026 Regulation : R23

Course Outcomes

Course Outcomes(COs)

C229.1 Envisaging application for societal needs

C229.2 Develop skills for analysis and synthesis of practical systems

C229.3 Acquire the use of new tools effectively and creatively.

Work in team to carry out analysis and cost-effective, environmental

C229.4
friendly designs of engineering systems.
Write Technical / Project reports and oral presentation of the work done to
C229.5
an audience.

C229.6 Demonstrate a product developed.

C229 Level of mapping

 RISE KRISHNA SAI PRAKASAM GROUP OF INSTITUTIONS::ONGOLE
(APPROVED BY AICTE-NEW DELHI, AFFILIATED TO JNTUK KAKINADA)
AN ISO 9001:2015 CERTIFIED INSTITUTE

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Name of the Course : DTI Project Year & Semester : II Year II

Academic Year : 2025-2026 Regulation : R23

CO Vs PO Mapping

Course
Outcomes PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12
(COs)
C229.1 2 2 3 3 3 3 2 2 3 2 2 2

C229.2 2 2 3 3 3 3 2 2 3 3 3 3

C229.3 2 2 3 3 3 3 2 2 3 2 2 2

C229.4 2 2 3 3 3 3 3 3 3 3 3 3

C229.5 2 2 3 2 3 3 2 3 3 3 3 3

C229.6 2 2 2 2 3 3 3 3 3 3 3 3

C229 2.00 2.00 2.83 2.67 3.00 3.00 2.33 2.50 3.00 2.67 2.67 2.67

CO Vs PSO Mapping

Course
PSO1 PSO2 PSO3
Outcomes(COs)
C229.1 3 3 3
C229.2 3 3 3
C229.3 3 3 3
C229.4 3 3 3
C229.5 2 2 2
C229.6 3 3 3
C229 2.83 2.83 2.83
 CONTENTS
CHAPTERS Page No.
CONTENTS i

LIST OF FIGURES iii

LIST OF TABLES iv

ABSTRACT v

CHAPTER 1: INTRODUCTION

1.1 INTRODUCTION TO EMBEDDED SYSTEMS 1

1.1.1 NEED FOR EMBEDDED SYSTEM 2

1.1.2 CATEGORIES OF EMBEDDED SYSTEMS 3

1.2 APPLICATIONS OF EMBEDDED SYSTEMS 4 - 5

CHAPTER 2: LITERATURE SURVEY

2.1 Survey Papers 6-9

CHAPTER 3: DESIGN APPROACH

3.1 ATMEGA 328

3.1.1 A Brief History of 8051 10

3.1.2 Introduction of ATmega328 11-12

3.1.3 Pin Diagram 12

3.1.4 Pin Description 13-16

3.2 POWER SUPPLY 17-26

3.3 LCD (Liquid Cristal Display) 27-36

3.4 Temperature Sensors (LM35) 37-38

Page i
 3.5 DC MOTOR 39-41

3.6 BUZZER 42-49

3.7 L293,L293D(QUADRUPLE HALF H-DRIVERS) 50-53

3.8 SMOKE DETECTOR 54-56

CHAPTER 4: EXISTING SYSTEM

4.1 PCB WIZARD3

4.1.1 Component placing and automatic routing 54-55

CHAPTER 5: SOFTWARE TOOLS

5.1 Tools Used 56

5.2 New in µVISION3 57

5.3 Bulding An Application In µVision 57

5.4 Creating Your Own Application in µVision2 58

5.5 Debugging an Application in µVision2 58

5.6 Starting µVision2 and Creating a Project 58

5.7 Starting µVision2 and Creating a Project 59-60

5.8 source code 61-68

CHAPTER 6: RESULTS 69

CHAPTER 7: CONCLUSION 70

CHAPTER 8:FUTURE SCOPE 71

REFERENCES 72

Page ii
[Link] FIGURE NO FIGURE NAME Page
no

1. 1.1 Network communication embedded systems 5

2. 1.2 Microwave oven 5

3. 1.3 Automatic kitchen equipment 5

4. 1.4 Heart beat monitoring cum controlling equipment 6

5. 1.5 Pulse monitoring system 6

6. 3.1 Pin diagram of ATmega328 IC 13

7. 3.2 Block diagram of power supply 18

8. 3.3 pin diagram of 1x16 lines LCD 31

9. 4.1 Schematic diagram 55

10. 5.2 Keil Software - internal stages 56

11. 5.3 Micro vision window 61

12. 5.4 Selection of new project 61

13. 5.5 Create new project window 62

14. 5.6 Selection of IC 62

15. 5.7 Features of IC 63

16. 5.8 Target of file 63

17. 5.9 Selection of new window 64

18. 5.10 Editor window 64

19. 5.11 New editor window 65

20. 5.12 File saving window 65

21. 5.13 Add files to Group source 66

22. 5.14 Compiler window 66

23. 5.15 Debugging window 67

24. 5.16 Selection of output port 67

25. 5.17 Result window 68

26. 6.1 Temperature Identification 69

Page iii
 LIST OF TABLES

[Link] Table No Name of the Table Page No

1 4.1.1 Features of Atmega 328/p 10
2 4.1.2 Atmega 328 pin details 12
3 4.4.5 Functional Table 23
4 A1 Features of Atmega 328 48
5 A2 Details of pin in Atmega 328 49

Page iv
 ABSTRACT

In today’s world, in almost all sectors, most arm having different number of degree of
freedoms (DOF’s) as per the requirement. This paper deals with the Design and
Implementation of a “Voice Controlled Robotic arduino”. The system design is divided into
3 parts namely: Voice recognition module, Robotic Arm and Platform.

Arm with Voice Recognition is to create a wireless voice controlled arm which can
be operated through a range of 10 to 50 meters using ZIGBEE transmitter and receiver.
Voice recognition is "the technology by which sounds, words or phrases spoken by humans
are converted into electrical signals, and these signals are transformed into coding patterns
to which meaning has been assigned". The different motions performed by robotic arm are:
PICK and PLACE / DROP, RAISING and LOWERING the objects. Also, the motions
performed by the platform are: FORWARD, BACKWARD, RIGHT and LEFT.

Page v
 CHAPTER-1
EMBEDDED SYSTEMS
1.1 Introduction:
Micro-controller are widely used in Embedded System products. An Embedded
product uses the micro-processor(or microcontroller) to do one task & one task only. A
printer is an example of Embedded system since the processor inside it perform one task
only namely getting the data and printing it. Although micro-controller are preferred choice
for many Embedded systems, There are times that a microcontroller is inadequate for the
task. For this reason in recent years many manufactures of general purpose microprocessors
such as INTEL, Motorolla, AMD & Cyrix have targeted their microprocessors for the high
end of Embedded market. One of the most critical needs of the embedded system is to
decrease power consumptions and space.
1.2 Embedded System:
An Embedded System employs a combination of hardware & software to
perform a specific function. Software is used for providing features and flexibility hardware
(Processors, Memory...) is used for performance & sometimes security. An embedded
system is a special purpose system in which the computer is completely encapsulated by the
device it controls. Unlike a general purpose computer, such as a PC, an embedded system
performs predefined task’s usually with very specific tasks design engineers can optimize it
reducing the size and cost of the product. Embedded systems are often mass- produced, so
the cost savings may be multiplied by millions of items. One or several microprocessor or
micro controller programmed to perform a small number of tasks forms the core of any
embedded system. In contrast to a general purpose computer, which can run any software
application, the user chooses, the software on an embedded system is semi-permanent, so it
is often called firmware.
1.3 Examples of Embedded System:

1. Automated Teller Machines (ATMS).

2. Integrated system in aircraft and missile.

3. Cellular telephones and telephonic switches.

4. Computer network equipment, including routers timeservers and Firewalls

5. Computer printers, Copiers.

Department of ECE Page 1

 6. Disk drives (floppy disk drive and hard disk drive.

7. Engine controllers and antilock brake controllers for automobiles.

8. Home automation products like thermostat, air conditioners sprinkles and security

Monitoring.

1.4 Microprocessor (MPU):

A microprocessor is a general-purpose digital computer central processing
unit(CPU). Although popularly known as a “computer on a chip” is in no sense a complete
digital computer. The block diagram of a microprocessor CPU is shown, which contains an
arithmetic and logical unit (ALU), a program counter (PC), a stack pointer (SP),some
working registers, a clock timing circuit, and interrupt circuits.

[Link] diagram of microprocessor

1.5 Microcontroller (MCU):
Figure shows the block diagram of a typical microcontroller. The design incorporates
all of the features found in micro-processor CPU: ALU, PC, SP, and registers. It also added
theother features needed to make a complete computer: ROM, RAM, parallel I/O, serial
I/O, counters, and clock circuit.

Department of ECE Page 2

 [Link] diagram of microcontroller

Department of ECE Page 3

 CHAPTER-2

LITERATURE SURVEY

[1] [Link], [Link], [Link], [Link], [Link] they get inspired by the
Octopus to and make an interesting model in robotics due to its high dexterity, variable
stiffness and very complex behavior. In this experiment they study the key features and
patterns of movement of Octopus arm and this features and patterns and patterns of
movement are that is elongation, shortening, bending and reaching etc. used for guide the
movement of actuator.

[2] They conclude that the concept proposed for the mechanism at the base of the robotic
arm inspired to the Octopus muscular hydrostat where successfully implemented on mock-
ups and the corresponding models have been modified and validate.

[3] Ravikumar Mourya, Amit Shelke, Saurabh Satpuite, Sushant Kakade, Monoj Botre
have main objective of their project are to design and implement a four DOF pick and place
robotic arm. They conclude that the CAD tools like Creo1.0 and Auto CAD are used to
model the desire manipulator. To determine the end effectors position and orientation,
theoretical analysis of inverse kinematics are carried out.

[4] Ansys software is used for FE Analysis. Prof. [Link], Akshay Bhalerao, Sagar
Ingole, Mahesh Jagadale. This project aims to design and fabricate the pneumatic arm for
pick and place of cylindrical objects. They conclude that arm is controlled by manually
flaw control and direction control valve. Arm rotation and movement is done by pneumatic
cylinder using helical slot mechanism. Total arm weight is 25 kg. The model is expected to
lift at least 10 kg weight.

[5] [Link], [Link] Varman, [Link], Experimental aim is to collaborate

the gripper mechanism and vacuum sucker mechanism working in single pick and place
robotic arm. These robot can perform tasks like gripping, sucking, lifting, placing,
releasing, in a single robotic arm. It will reduced the cycle time, Ideal time, cost of
operation, space consumption. It is user friendly and effectively used in glass handling
system.

[6] [Link], [Link], [Link], [Link]. Their purpose of work is to

manufacture a light weight robot arm with a low cost budget. They conclude that to avoid
negative influence on the total weight of the arm, the plastic material reinforced with fiber

Department of ECE Page 4

is used and vacuum infusion man process is used for manufacturing. Local reinforced
elements must be included during construction of arm shell.

[7] The mast light gear reducer, harmonic drive types are used but because of lack of
alignment causes disassembly of gear package to avoid these flexible couplings are
required. Gabrielle J.M. Tuithaf, Just [Link]. Current robots are not safe for interaction
with humans, especially for children therefore safe four DOF robot arm is develop. Firstly,
the joint stiffness of arm is brought to zero then the arm is supplied with pneumatic
artificial muscles and their stiffness can be adjusted by open loop stiffness control.

[8] [Link], [Link], [Link], A. Verganana. This paper shows the method for
reducing the total energy consumption of pick and placed robotic arm. Firstly, electro
mechanical models of both series and parallel manipulators are derived and then by means
of constant time scaling, the energy optimal trajectories are calculated. It is seen that
blowing down an operation as much as possible is not always beneficial. Energy
consumption of given operation as a function of the task execution time.

[9] Future work includes improvement of the motor model, development of online
programming algorithms. Mohd Ashiq Kamaril, Yusuff, Reza Ezucin Samin, Babul Salam,
Kader Ibrahim, paper presents the development of wireless mobile robot arm. Wireless PS2
controller is used to control the pick and place operation. The development of this robot is
based on Arduina Mega Platform. Analysis of speed, distance, load lifted by arm is done to
know its performance.

[10] This robot expected to overcome the problem such as placing or picking object that is
away from the user, pick and place hazardous object fast and easily. H. Hagenah, W.
Bohm, [Link], M. Merklein, S. Wartzack. This paper will show how modern
materials as cellular titanium & nano crystalline aluminium can be used to build advanced
light weight robot arms.

[11] This paper will cover the definition of the product specification, the setting of a basic
design and the optimization of this by means of topology optimization. This optimization
requires an intelligent modeling to be able to investigate different initial setting and
boundary conditions. Different innovative light weight construction materials and the
corresponding manufacturing technologies are developing and analyzed.

[12] Mohd Aliff, Shujiro Dohta, Tetsuya Akagi, flexible Hui Li the aim of study is to
develop the and light weight actuator and applied into has flexible hose robot arm. In this

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paper, the Slavic Master's degree height flexible control and the trajectory control of the
robot arm are proposed. This robot arm has 3DOF i.e. bending, expanding and contracting
and will be applied into has device for human wrist rehabilitation. In this paper the
analytical model of year has flexible hose robot arm is proposed for Slavic Master's degree
height control in

Department of ECE Page 6

 CHAPTER-3

SYSTEM DESIGN

3.1 DC MOTOR

Fig.3.1 DC MOTOR

HC -05 Bluetooth module.D.C. motor is controlled by DC voltages and moves in

forward, backward, left andright, direction according to the polarity of voltage applied.
Mostly all mechanical movement which robot performs is accomplished by an electric
motor. Electric machines are means of converting energy into mechanical energy. Electric
motor is used to power devices. An example of small motor applications such as motors
used in automobiles, robot, hand power tools and food blenders. Micro-machines are
electric.
3.2 L293D MOTOR DRIVER IC
Microcontroller cannot supply the current required to run DC motor. So satisfy this
requirement IC’s are used to drive the motor. The L293 and L293D are quadruple high-
current half –H drivers. The L293D provides bidirectional drive currents of up to 1A at
voltage from 4.5V to 36V. The L293D is designed to provide bidirectional drive currents
of up to 600-MA at voltages from 4.5V to 36V. Both 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. On the L293D,
external high-speed output clamp diodes should be used for inductive transient
suppression. A Vcc1 terminal, separate from Vcc2, is provided for the logic inputs to
minimize device power dissipation. The L293 and L293D are characterized for operation
0
from 0ↄC to 70 C.

Department of ECE Page 7

3.3 .WORKING OF L293D
The 4 input pins for this l293d, pin 2, 7on the left and pin 15, 10 on the right as
shown on the pin diagram. Left nput pins will regulate the rotation of motor connected
across left side and right input for motor on the right hand provided across the input pins
as LOGIC 0 or LOGIC [Link] simple you need to provide Logic 0 or 1 across the input pins
for rotating the motor

Department of ECE Page 8

 CHAPTER-4
HARDWARE AND SOFTWARE COMPONENTS
4.1. ATmega 328/p

The Atmel ATmega328/P is a low-power CMOS 8-bit microcontroller based on the

AVR enhanced RISC architecture. By executing powerful instructions in a single clock
cycle, the ATmega328/P achieves throughputs close to 1MIPS per MHz. This empowers
system designer to optimize the device for power consumption versus processing speed.
The Atmel AVR core combines a rich instruction set with 32 general purpose
working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit
(ALU), allowing two independent registers to be accessed in a single instruction executed
in one clock cycle. The resulting architecture is more code efficient while achieving
throughputs up to ten times faster than conventional CISC microcontrollers.
The ATmega328/P provides the following features: 32Kbytes of In-System
Programmable Flash with Read-While-Write capabilities, 1Kbytes EEPROM, 2Kbytes
SRAM, 23 general purpose I/O lines, 32 general purpose working registers, Real Time
Counter (RTC), three flexible Timer/Counters with compare modes and PWM, 1 serial
programmable USARTs , 1 byte-oriented 2-wire Serial Interface (I2C), a 6- channel 10-bit
ADC (8 channels in TQFP and QFN/MLF packages) , a programmable Watchdog Timer
with internal Oscillator, an SPI serial port, and six software selectable power saving modes.
The Idle mode stops the CPU while allowing the SRAM, Timer/Counters, SPI
port, and interrupt system to continue functioning. The Power-down mode saves the
register contents but freezes the Oscillator, disabling all other chip functions until the next
interrupt or hardware reset. In Power-save mode, the asynchronous timer continues to run,
allowing the user to maintain a timer base while the rest of the device is sleeping. The ADC
Noise Reduction mode stops the CPU and all I/O modules except asynchronous timer and
ADC to minimize switching noise during ADC conversions.
In Standby mode, the crystal/resonator oscillator is running while the rest of the
device is sleeping. This allows very fast start-up combined with low power consumption.
In Extended Standby mode, both the main oscillator and the asynchronous timer continue
to run.
Atmel offers the Q Touch library for embedding capacitive touch buttons, sliders
and wheels functionality into AVR microcontrollers. The patented charge-transfer signal
acquisition offers robust sensing and includes fully de bounced reporting of touch keys and
includes Adjacent Key Suppression technology for unambiguous detection of key events.
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 The device is manufactured using Atmel’s high density non-volatile memory
technology. The On-chip ISP Flash allows the program memory to be reprogrammed In-
System through an SPI serial interface, by a conventional nonvolatile memory
programmer, or by an On-chip Boot program running on the AVR core. The Boot program
can use any interface to download the application program in the Application Flash
memory.
Software in the Boot Flash section will continue to run while the Application Flash section
is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-
System Self-Programmable Flash on a monolithic chip, the Atmel ATmega328/P is a powerful
microcontroller that provides a highly flexible and cost effective solution to many embedded
control applications. The ATmega328/P is supported with a full suite of program and system
development tools including: C Compilers, Macro Assemblers, Program Debugger/Simulators, In-
Circuit Emulators, and Evaluation kits.
4.1.1 Configuration summary
Table: [Link] of Atmega 328/p
Features Atmega328/p
Pin count 28/32
Flash (bytes) 32k
SRAM(bytes) 2k
EEPROM(bytes) 1k
General purpose I/O lines 23
SPI 2
TWI(i2c) 1
USART 1
ADC 10 bit 15Ksps
ADC Channels 8
8-bite Timer counter 2
16 bite Timer counter 1

Department of ECE Page 10

 Fig.4.1: Atmega 328/p architecture

Basically, the processor of the Arduino board uses the Harvard architecture where
the program code and program data have separate memory. It consists of two memories
such as program memory and data memory. Wherein the data is stored in data memory and
the code is stored in the flash program memory. The Atmega328 microcontroller has 32kb

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of flash memory, 2kb of SRAM 1kb of EPROM and operates with a 16MHz clock speed.

4.1.2 ATMEGA328 PIN DIAGRAM:

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 Table: [Link] 328 pin details

Pin Category Pin Name Details

Vin: Input voltage to Arduino when using an

external power source.
5V: Regulated power supply used to power
Vin, 3.3V, 5V, microcontroller and other components on the
Power
GND board.
3.3V: 3.3V supply generated by on-board voltage
regulator. Maximum current draw is 50mA.
GND: ground pins.

Reset Reset Resets the microcontroller.

Analog Pins A0 – A5 Used to provide analog input in the range of 0-5V

Input/Output Digital Pins 0 -

Can be used as input or output pins.
Pins 13

Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.

External
2, 3 To trigger an interrupt.
Interrupts

PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.

10 (SS), 11
(MOSI), 12
SPI Used for SPI communication.
(MISO) and 13
(SCK)

Inbuilt LED 13 To turn on the inbuilt LED.

A4 (SDA), A5
TWI Used for TWI communication.
(SCA)

AREF AREF To provide reference voltage for input voltage.

Department of ECE Page 13

4.1.3. Arduino board

Fig: [Link] board

An Arduino board is a one type of microcontroller based kit. The first Arduino
technology was developed in the year 2005 by David Cuartielles and Massimo Banzi. The
designers thought to provide easy and low cost board for students, hobbyists and
professionals to build devices. Arduino board can be purchased from the seller or directly
we can make at home using various basic components. The best examples of Arduino for
beginners and hobbyists includes motor detectors and thermostats, and simple robots. In
the year 2011, Adafruit industries expected that over 3lakhs Arduino boards had been
produced. But, 7lakhs boards were in user’s hands in the year 2013. Arduino technology is
used in many operating devices like communication or controlling.
4.1.4 Arduino Technology
A typical example of the Arduino board is [Link] includes an ATmega328
microcontroller and it has 28-pins

Fig:4.1.4 Arduino Pin Diagram

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 The pin configuration of theArduino Uno board is shown in the above. It consists
of 14-digital i/o pins. Wherein 6 pins are used as pulse width modulation o/ps and 6 analog
i/ps, a USB connection, a power jack, a 16MHz crystal oscillator, a reset button, and an
ICSP header. Arduino board can be powered either from the personal computer through a
USB or external source like a battery or an adaptor. This board can operate with an
external supply of 7-12V by giving voltage reference through the IORef pin or through the
pin Vin.
4.1.5 Digital I/Ps
It comprises of 14-digital I/O pins, each pin take up and provides 40mA current.
Some of the pins have special functions like pins 0 & 1, which acts as a transmitter and
receiver respectively. For serial communication, pins-2 & 3 are external interrupts,
3,5,6,9,11 pins delivers PWM o/p and pin-13 is used to connect LED.
4.1.6 How to program an Arduino?
The main advantage of the Arduino technology is, you can directly load the
programs into the device without the need of a hardware programmer to burn the program.
This is done because of the presence of the 0.5KB of boot loader, that allows the program
to be dumped into the circuit. The Arduino tool window contains a toolbar with a various
buttons like new, open, verify, upload and serial monitor. And additionally it comprises of
a text editor (employed to write the code), a message space (displays the feedback) like
showing the errors, the text console, that displays the o/p & a series of menus just like the
file, tool menu & edit.

Fig 4.1.6 Arduino tool window

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4.1.7 Arduino Program
Programming into the Arduino board is called as sketches. Each sketch
contains of three parts such as Variables Declaration, Initialization and Control code.
Where, Initialization is written in the setup function and Control code is written in the loop
function.
The sketch is saved with .ino and any operation like opening a sketch,
verifying and saving can be done using the tool [Link] sketch must be stored in the
sketchbook directory.
Select the suitable board from the serial port numbers and tools [Link]
the tools menu and click on the upload button, then the boot loader uploads the code on
the micLrocontroller.

4.1.8 Basic Functions of Arduino Technology

• Digital read pin reads the digital value of the given pin.
• Digital write pin is used to write the digital value of the given pin.
• Pin mode pin is used to set the pin to I/O mode.
• Analog read pin reads and returns the value.
• Analog write pin writes the value of the pin.
• Serial Begins pin sets the beginning of serial communication by setting the
rate of bit.
4.1.9 Advantages of Arduino Technology
• It is cheap
• It comes with an open supply hardware feature that permits users to develop
their own kit
• The software of the Arduino is well-suited with all kinds of in operation
systems like Linux, Windows, and Macintosh, etc.
• It also comes with open supply software system feature that permits tough
software system developers to use the Arduino code to merge with the prevailing
programing language libraries and may be extended and change
4.2 Li-ion Battery:
Lithium-ion battery or Li-ion battery (abbreviated as LIB) is a type of rechargeable
battery in which lithium ions move from the negative electrode to the positive electrode
during discharge and back when charging. Li-ion batteries use an intercalated lithium
compound as one electrode material, compared to the metallic lithium used in a non-

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rechargeable lithium battery. The electrolyte, which allows for ionic movement, and the
two electrodes are the constituent components of a lithium-ion battery cell.
Lithium-ion batteries are common in home electronics. They are one of the most
popular types of rechargeable batteries for portable electronics, with a high energy density,
tiny memory effect[9] and low self-discharge. LIBs are also growing in popularity for
military, battery electric vehicle and aerospace applications. For example, lithium-ion
batteries are becoming a common replacement for the lead–acid batteries that have been
used historically for golf carts and utility vehicles. Instead of heavy lead plates and acid
electrolyte, the trend is to use lightweight lithium-ion battery packs that can provide the
same voltage as lead-acid batteries, so no modification to the vehicle's drive system is
required.
Chemistry, performance, cost and safety characteristics vary across LIB types.
Handheld electronics mostly use LIBs based on lithium cobalt oxide (LiCoO2), which
offers high energy density, but presents safety risks, especially when damaged.
Lithium iron phosphate (LiFePO4), lithium ion manganese oxide battery (LiMn24,
Li,2MnO3, or LMO) and lithium nickel manganese cobalt oxide (LiNiMnCoO2 or NMC)
offer lower energy density, but longer lives and inherent safety. Such batteries are widely
used for electric tools, medical equipment and other roles.
NMC in particular is a leading contender for automotive applications. Lithium
nickel cobalt aluminum oxide (LiNiCoAlO2 or NCA) and lithium titanate (Li4Ti5O12 or
LTO) are specialty designs aimed at particular niche roles. The newer lithium–sulfur
batteries promise the highest performance-to-weight ratio.
Lithium-ion batteries can pose unique safety hazards since they contain a
flammable electrolyte and may be kept pressurized. An expert notes "If a battery cell is
charged too quickly, it can cause a short circuit, leading to explosions and fires".Because of
these risks, testing standards are more stringent than those for acid-electrolyte batteries,
requiring both a broader range of test conditions and additional battery-specific [Link]
have been battery-related recalls by some companies, including the 2016 Samsung Galaxy
Note 7 recall for battery [Link] areas for lithium-ion batteries include life
extension, energy density, safety, and cost reduction, among others
4.3 LDR(LIGHT DEPENDENT REGISTER)
A photo resistor or Light Dependent Resistor or CdS (Cadmium Sulphide) Cell is a
resistor whose resistance decreases with increasing incident light intensity. It can also be
referred to as a photoconductor.
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 A photo resistor is made of a high resistance semiconductor. If light falling on the
device is of high enough frequency, photons absorbed by the semiconductor give bound
electrons enough energy to jump into the conduction band. The resulting free electron (and
its hole partner) conduct electricity, thereby lowering resistance.

Fig 4.3 LDR(LIGHT DEPENDENT REGISTER)

4.3.1 Photo electric device

A photoelectric device can be either intrinsic or extrinsic. An intrinsic
semiconductor has its own charge carriers and is not an efficient semiconductor, e.g.
silicon. In intrinsic devices the only available electrons are in the valence band, and hence
the photon must have enough energy to excite the electron across the entire band gap.
Extrinsic devices have impurities, also called dopants, added whose ground state energy is
closer to the conduction band; since the electrons don't have as far to jump, lower energy
photons (i.e., longer wavelengths and lower frequencies) are sufficient to trigger the device.
If a sample of silicon has some of its atoms replaced by phosphorus atoms (impurities),
there will be extra electrons available for conduction.
This is an example of an extrinsic semiconductor.

conduction band

band valence bands

gap

Fig 4.3.1 photo electric device

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4.3.2 Cadmium sulphide cells:

(CdS) cells rely on the material's ability to vary its resistance according to the
amount of light striking the cell. The more light that strikes the cell, the lower the
resistance. though not accurate, even a simple CdS cell can have a wide range of resistance
from less than 100 Ω in bright light to in excess of 10 MΩ in darkness.

Standard cadmium based LDRs have a frequency response that varies according to
light level, but typical fall times range from 15ms to 25ms and typical rise times range
from 50ms to 70ms, so they may be unsuitable for data links and picture scanning.
Probably the best known LDR is the ORP12. Smaller cheaper devices are more popular
today.

4.3.3 A sample LDR light sensor circuit:

Fig 4.3.3 A sample LDR light sensor circuit

When the light level is low the resistance of the LDR is high. This prevents current from
flowing to the base of the transistors. Consequently the LED does not light.

However, when light shines onto the LDR its resistance falls and current flows into the
base of the first transistor and then the second transistor. The LED lights.

The preset resistor can be turned up or down to increase or decrease resistance, in this way
it can make the circuit more or less sensitive.

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4.3.4 Applications:

Photo resistors come in many different types. Inexpensive cadmium sulfide cells can
be found in many consumer items such as camera light meters, clock radios, security
alarms, street lights and outdoor clocks.

They are also used in some dynamic compressors together with a small
incandescent lamp or light emitting diode to control gain reduction.

Lead sulfide and indium antimonite LDRs are used for the mid infrared spectral
region. Ge:Cu photoconductors are among the best far-infrared detectors available, and are
used for infrared astronomy and infrared spectroscopy.
4.4 L293,L293D(QUADRUPLE HALF H-DRIVERS)
The L293 and L293D are quadruple high-current half-H drivers. The L293 is
designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36
V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at
voltages from 4.5 V to 36 V. Both 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. All inputs are TTL compatible. Each output
is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-
Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and
drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are
enabled, and their outputs are active and in phase with their inputs. When the enable input
is low, those drivers are disabled, and their outputs are off and in the high-impedance state.
With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive
suitable for solenoid or motor applications.
4.4.1 Features:
• Featuring Unitrode L293 and L293D

• Products Now From Texas Instruments

• Wide Supply-Voltage Range: 4.5 V to 36 V

• Separate Input-Logic Supply

• Internal ESD Protection

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 • Thermal Shutdown

• High-Noise-Immunity Inputs

• Functionally Similar to SGS L293 and

SGS L293D

• Output Current 1 A Per Channel

(600 mA for L293D)

• Peak Output Current 2 A Per Channel

(1.2 A for L293D)

• Output Clamp Diodes for Inductive

Transient Suppression (L293D)

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4.4.2 Pin diagram:

Fig [Link] diagram of L293,L293D(QUADRUPLE HALF H-DRIVERS

4.4.3 Description:
On the L293, external high-speed output clamp diodes should be used for inductive
transient suppression. A VCC1 terminal, separate from VCC2, is provided for the logic
inputs to minimize device power dissipation. The L293and L293D are characterized for
operation from 0 C to 70 C.

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4.4.4 block diagram:

Fig 4.4.4. Block diagram of L293,L293D(QUADRUPLE HALF H-DRIVERS)

4.4.5 Functional table

4.4.6 Logic diagram:

Fig 4.4.6 Logic diagram

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4.4.7 Applications:
• Audio
• Automotive
• Broadband
• Digital control
• Military
• Optical networking
• Security
• Telephony
• Video & Imaging
• Wire less
4.5 DC MOTOR
A DC motor is designed to run on DC electric power. Two examples of pure DC
designs are Michael Faraday's homopolar motor (which is uncommon), and the ball bearin
motor, which is (so far) a novelty. By far the most common DC motor types are the
brushed and brushless types, which use internal and external commutation respectively to
create an oscillating AC current from the DC source -- so they are not purely DC machines
in a strict sense.

Fig 4.5 DC Motor

4.5.1 Types of dc motors:

• Brushed DC Motors

• Brushless DC motors
• Coreless DC motors

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[Link] Brushed DC motors:

The classic DC motor design generates an oscillating current in a wound rotor with a
split ring commutator, and either a wound or permanent magnet stator. A rotor consists of a
coil wound around a rotor which is then powered by any type of battery.

Many of the limitations of the classic commutator DC motor are due to the need for
brushes to press against the commutator. This creates friction. At higher speeds, brushes
have increasing difficulty in maintaining contact. Brushes may bounce off the irregularities
in the commutator surface, creating sparks. This limits the maximum speed of the machine.
The current density per unit area of the brushes limits the output of the motor.

The imperfect electric contact also causes electrical noise. Brushes eventually wear
out and require replacement, and the commutator itself is subject to wear and maintenance.
The commutator assembly on a large machine is a costly element, requiring precision
assembly of many parts. there are three types of dc motor 1. dc series motor 2. dc shunt
motor 3. dc compound motor - these are also two type a. cummulative compound b.
deffercial compounnd
[Link] Brushless DC motors:

Some of the problems of the brushed DC motor are eliminated in the brushless
design. In this motor, the mechanical "rotating switch" or commentator/brush gear
assembly is replaced by an external electronic switch synchronized to the rotor's position.
Brushless motors are typically 85-90% efficient, whereas DC motors with brush gear are
typically 75-80% efficient.

Midway between ordinary DC motors and stepper motors lies the realm of the
brushless DC motor. Built in a fashion very similar to stepper motors, these often use a
permanent magnet external rotor, three phases of driving coils, one or more Hall effect
sensors to sense the position of the rotor, and the associated drive electronics. The coils are
activated, one phase after the other, by the drive electronics as cued by the signals from the
Hall effect sensors. In effect, they act as three-phase synchronous motors containing their
own variable-frequency drive electronics.

A specialized class of brushless DC motor controllers utilize EMF feedback

through the main phase connections instead of Hall effect sensors to determine position and

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velocity. These motors are used extensively in electric radio-controlled vehicles. When
configured with the magnets on the outside, these are referred to by modelists as outrunner
motors.

Brushless DC motors are commonly used where precise speed control is necessary, as in
computer disk drives or in video cassette recorders, the spindles within CD, CD-ROM
(etc.) drives, and mechanisms within office products such as fans, laser printers and
photocopiers. They have several advantages over conventional motors:

• Compared to AC fans using shaded-pole motors, they are very efficient, running
much cooler than the equivalent AC motors. This cool operation leads to much-
improved life of the fan's bearings.
• Without a commentator to wear out, the life of a DC brushless motor can be
significantly longer compared to a DC motor using brushes and a commentator.
Commutation also tends to cause a great deal of electrical and RF noise; without a
commentator or brushes, a brushless motor may be used in electrically sensitive
devices like audio equipment or computers.
• The same Hall effect sensors that provide the commutation can also provide a
convenient tachometer signal for closed-loop control (servo-controlled)
applications. In fans, the tachometer signal can be used to derive a "fan OK" signal.

• The motor can be easily synchronized to an internal or external clock, leading to

precise speed control.

• Brushless motors have no chance of sparking, unlike brushed motors, making them
better suited to environments with volatile chemicals and fuels. Also, sparking
generates ozone which can accumulate in poorly ventilated buildings risking harm
to occupants' health.

• Brushless motors are usually used in small equipment such as computers and are
generally used to get rid of unwanted heat.
• They are also very quiet motors which is an advantage if being used in equipment
that is affected by vibrations.

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 Modern DC brushless motors range in power from a fraction of a watt to many
kilowatts. Larger brushless motors up to about 100 kW rating are used in electric vehicles.
They also find significant use in high-performance electric model aircraft.

[Link] Coreless DC motors:

Nothing in the design of any of the motors described above requires that the iron
(steel) portions of the rotor actually rotate; torque is exerted only on the windings of the
electromagnets. Taking advantage of this fact is the coreless DC motor, a specialized form
of a brush or brushless DC motor. Optimized for rapid acceleration, these motors have a
rotor that is constructed without any iron core.

The rotor can take the form of a winding-filled cylinder inside the stator magnets, a
basket surrounding the stator magnets, or a flat pancake (possibly formed on a printed
wiring board) running between upper and lower stator magnets. The windings are typically
stabilized by being impregnated with Electrical epoxy potting systems. Filled epoxies that
have moderate mixed viscosity and a long gel time. These systems are highlighted by low
shrinkage and low exothermic. Typically UL 1446 recognized as a potting compound for
use up to 180C (Class H) UL File No. E 210549.

4.6 (IR) INFRARED TECHNOLOGY:

Technically known as "infrared radiation", infrared light is part of the electromagnetic

spectrum located just below the red portion of normal visible light – the opposite end to
ultraviolet. Although invisible, infrared follows the same principles as regular light and can
be reflected or pass through transparent objects, such as glass. Infrared remote controls use
this invisible light as a form of communications between themselves and home theater
equipment, all of which have infrared receivers positioned on the front. Essentially, each
time you press a button on a remote, a small infrared diode at the front of the remote beams
out pulses of light at high speed to all of your equipment. When the equipment recognizes
the signal as its own, it responds to the command.

But much like a flashlight, infrared light can be focused or diffused, weak or strong.
The type and number of emitters can affect the possible angles and range your remote
control can be used from. Better remotes can be used up to thirty feet away and from

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almost any angle, while poorer remotes must be aimed carefully at the device being
controlled.

The light our eyes see is but a small part of a broad spectrum of electromagnetic
radiation. On the immediate high energy side of the visible spectrum lies the ultraviolet,
and on the low energy side is the infrared.

The portion of the infrared region most useful for analysis of organic compounds is
not immediately adjacent to the visible spectrum, but is that having a wavelength range
from 2,500 to 16,000 nm, with a corresponding frequency range from 1.9*1013 to 1.2*1014
Hz.( From [Link] : the frequency of
infrared ranges from 0.003 - 4 x 1014 Hz or about 300 gigahertz to 400 terahertz.).

Infrared imaging is used extensively for both military and civilian purposes. Military
applications include target acquisition, surveillance, night vision, homing and tracking.
Non-military uses include thermal efficiency analysis, remote temperature sensing, short-
ranged wireless communication, spectroscopy, and weather forecasting. Infrared astronomy
uses sensor-equipped telescopes to penetrate dusty regions of space, such as molecular
clouds; detect cool objects such as planets.

4.6.1 IR LED QED234:

Fig [Link] LED QED234

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4.6.2 FEATURES:
• Wave length is 940 nm
• Chip material =GaAs with AlGaAs window
• Package type: T-1 3/4 (5mm lens diameter)
• Matched Photo sensor: QSD122/123/124
• Medium Emission Angle, 40°
• High Output Power
• Package material and color: Clear, untainted, plastic
• Ideal for remote control applications

4.6.3 Emitter/Detector Alignment:

Good alignment of the emitter and detector is important for good operation, especially
if the gap is large. This can be done with a piece of string stretched between and in line
with LED and phototransistor. A length of dowel or stiff wire could be used to set the
alignment. Another method that can be used for longer distances is a laser pointer shone
through one of the mounting holes.

For best results the height of the "beam" should be at coupler height and at an angle
across the tracks. The emitter could also be mounted above the track with the
phototransistor placed between the rails in locations such as hidden yards. Placing the
emitter and detector at an angle would again be helpful.

Fig 4.6.3:Emitter/Detector Alignment Methods

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4.6.4 A sample infrared remote control setup:

Fig 4.6.4:A Simple infrared remote control setup

[Link] Infrared Receiver (Pickup)

This device picks up the infrared signal from your remote control just like a TV or VCR. It
encodes the infrared signal into a signal suitable for transmission. Receivers must be located in the
room you wish to use the remote control. The wire from the receiver to the connecting block needs
at least three available conductors and can be several hundred feet long. Both quad wire and
category 5wire work fine. See our IR receivers here.
[Link] Connecting Block
This is simply a place for all the parts to plug in or connect to. Connecting blocks are usually
classified based on the number of outputs (how many IR emitters can connect to the block)
Amplified connecting blocks can generally support more outputs. All connecting blocks can
support many IR receivers wired in parallel. Connecting blocks are usually located near the
equipment that is to be controlled, along with the power supply and emitters. See our connecting
blocks here.

[Link] Infrared Emitters

IR Emitters generally "stick" onto the front of the device you want to
[Link] you need one emitter for each device. "Dual" emitters have two emitters
and one plug, so they only take up one jack of the connecting block. "Blink" emitters blink
visibly as well as infrared, so they are easier to troubleshoot. All emitters come with long
cords and extra double-stick tape. "Blast" style emitters, where one emitter blinks into
several devices, are usually less reliable but can be used when the environment is tightly
controlled.

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[Link] Applications:

• Infrared Filters
• Night vision
• Thermography
• Other imaging
• Tracking
• Heating
• Communications
• Spectroscopy
• Meteorology
• Climatology
• Astronomy
• Art history
• Biological systems
• Photobiomodulation
• Health hazard

4.7 Power Supply

Power supply is a reference to a source of electrical power. A device or system that
supplies electrical or other types of energy to an output load or group of loads is called a
power supply unit or PSU. The term is most commonly applied to electrical energy
supplies, less often to mechanical ones, and rarely to others
This power supply section is required to convert AC signal to DC signal and also to
reduce the amplitude of the signal. The available voltage signal from the mains is
230V/50Hz which is an AC voltage, but the required is DC voltage(no frequency) with the
amplitude of +5V and +12V for various applications.
In this section we have Transformer, Bridge rectifier, are connected serially and
voltage regulators for +5V and +12V (7805 and 7812) via a capacitor (1000µF) in parallel
are connected parallel as shown in the circuit diagram below. Each voltage regulator output
is again is connected to the capacitors of values (100µF, 10µF, 1 µF, 0.1 µF) are connected
parallel through which the corresponding output(+5V or +12V) are taken into
consideration.

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 Fig 4.7: circuit diagram of power supply
4.7.1 Circuit Explanation
[Link] Transformer

A transformer is a device that transfers electrical energy from one circuit to another
through inductively coupled electrical conductors. A changing current in the first circuit
(the primary) creates a changing magnetic field; in turn, this magnetic field induces a
changing voltage in the second circuit (the secondary). By adding a load to the secondary
circuit, one can make current flow in the transformer, thus transferring energy from one
circuit to the other.

The secondary induced voltage VS, of an ideal transformer, is scaled from the
primary VP by a factor equal to the ratio of the number of turns of wire in their respective
windings:

[Link] Basic principle

The transformer is based on two principles: firstly, that an electric current can
produce a magnetic field (electromagnetism) and secondly that a changing magnetic field
within a coil of wire induces a voltage across the ends of the coil (electromagnetic
induction). By changing the current in the primary coil, it changes the strength of its
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magnetic field; since the changing magnetic field extends into the secondary coil, a voltage
is induced across the secondary.

A simplified transformer design is shown below. A current passing through the

primary coil creates a magnetic field. The primary and secondary coils are wrapped around
a core of very high magnetic permeability, such as iron; this ensures that most of the
magnetic field lines produced by the primary current are within the iron and pass through
the secondary coil as well as the primary coil.

Fig [Link]: An ideal step-down transformer showing magnetic flux in the core
[Link] Induction law

The voltage induced across the secondary coil may be calculated from Faraday's
law of induction, which states that:

Where VS is the instantaneous voltage, NS is the number of turns in the secondary

coil and Φ equals the magnetic flux through one turn of the coil. If the turns of the coil are
oriented perpendicular to the magnetic field lines, the flux is the product of the magnetic
field strength B and the area A through which it cuts. The area is constant, being equal to

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the cross-sectional area of the transformer core, whereas the magnetic field varies with time
according to the excitation of the primary. Since the same magnetic flux passes through
both the primary and secondary coils in an ideal transformer, the instantaneous voltage
across the primary winding equals

Taking the ratio of the two equations for VS and VP gives the basic equation for stepping up
or stepping down the voltage

[Link] Ideal power equation

If the secondary coil is attached to a load that allows current to flow, electrical power is
transmitted from the primary circuit to the secondary circuit. Ideally, the transformer is perfectly
efficient; all the incoming energy is transformed from the primary circuit to the magnetic field and
into the secondary circuit. If this condition is met, the incoming electric power must equal the
outgoing power.

Pincoming = IPVP = Poutgoing = ISVS

giving the ideal transformer equation

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 Pin-coming = IPVP = Pout-going = ISVS

giving the ideal transformer equation

If the voltage is increased (stepped up) (VS > VP), then the current is decreased
(stepped down) (IS < IP) by the same factor. Transformers are efficient so this formula is a
reasonable approximation.

If the voltage is increased (stepped up) (VS > VP), then the current is decreased
(stepped down) (IS < IP) by the same factor. Transformers are efficient so this formula is a
reasonable approximation.

The impedance in one circuit is transformed by the square of the turns ratio. For
example, if an impedance ZS is attached across the terminals of the secondary coil, it
appears to the primary circuit to have an impedance of

This relationship is reciprocal, so that the impedance ZP of the primary circuit appears to
the secondary to be

[Link] Detailed operation

The simplified description above neglects several practical factors, in particular the
primary current required to establish a magnetic field in the core, and the contribution to
the field due to current in the secondary circuit.

Models of an ideal transformer typically assume a core of negligible reluctance with

two windings of zero resistance. When a voltage is applied to the primary winding, a small
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current flows, driving flux around the magnetic circuit of the core. The current required to
create the flux is termed the magnetizing current; since the ideal core has been assumed to
have near-zero reluctance, the magnetizing current is negligible, although still required to
create the magnetic field.

The changing magnetic field induces an electromotive force (EMF) across each
winding. Since the ideal windings have no impedance, they have no associated voltage
drop, and so the voltages VP and VS measured at the terminals of the transformer, are equal
to the corresponding EMFs. The primary EMF, acting as it does in opposition to the
primary voltage, is sometimes termed the "back EMF". This is due to Lenz's law which
states that the induction of EMF would always be such that it will oppose development of
any such change in magnetic field.

[Link] Bridge Rectifier

A diode bridge or bridge rectifier is an arrangement of four diodes in a bridge

configuration that provides the same polarity of output voltage for any polarity of input
voltage. When used in its most common application, for conversion of alternating current
(AC) input into direct current (DC) output, it is known as a bridge rectifier. A bridge
rectifier provides full-wave rectification from a two-wire AC input, resulting in lower cost
and weight as compared to a center-tapped transformer design, but has two diode drops
rather than one, thus exhibiting reduced efficiency over a center-tapped design for the
same output voltage.

When the input connected at the left corner of the diamond is positive with respect
to the one connected at the right hand corner, current flows to the right along the upper
colored path to the output, and returns to the input supply via the lower one.

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 When the right hand corner is positive relative to the left hand corner, current flows along
the upper colored path and returns to the supply via the lower colored path.

In each case, the upper right output remains positive with respect to the lower right
one. Since this is true whether the input is AC or DC, this circuit not only produces DC
power when supplied with AC power: it also can provide what is sometimes called "reverse
polarity protection". That is, it permits normal functioning when batteries are installed
backwards or DC input-power supply wiring "has its wires crossed" (and protects the
circuitry it powers against damage that might occur without this circuit in place).

Prior to availability of integrated electronics, such a bridge rectifier was always

constructed from discrete components. Since about 1950, a single four-terminal component
containing the four diodes connected in the bridge configuration became a standard
commercial component and is now available with various voltage and current ratings.

Fig [Link] :graph representation of the output wave forms

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[Link] Output smoothing (Using Capacitor)

For many applications, especially with single phase AC where the full-wave bridge serves
to convert an AC input into a DC output, the addition of a capacitor may be important because the
bridge alone supplies an output voltage of fixed polarity but pulsating magnitude (see diagram
above).

Fig [Link] Output smoothing (Using Capacitor)

The function of this capacitor, known as a reservoir capacitor (aka smoothing

capacitor) is to lessen the variation in (or 'smooth') the rectified AC output voltage
waveform from the bridge. One explanation of 'smoothing' is that the capacitor provides a
low impedance path to the AC component of the output, reducing the AC voltage across,
and AC current through, the resistive load. In less technical terms, any drop in the output
voltage and current of the bridge tends to be cancelled by loss of charge in the capacitor.
This charge flows out as additional current through the load. Thus the change of
load current and voltage is reduced relative to what would occur without the capacitor.
Increases of voltage correspondingly store excess charge in the capacitor, thus moderating
the change in output voltage / current. Also see rectifier output smoothing.
The simplified circuit shown has a well deserved reputation for being dangerous,
because, in some applications, the capacitor can retain a lethal charge after the AC power
source is removed. If supplying a dangerous voltage, a practical circuit should include a
reliable way to safely discharge the capacitor. If the normal load can not be guaranteed to
perform this function, perhaps because it can be disconnected, the circuit should include a
bleeder resistor connected as close as practical across the capacitor. This resistor should

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consume a current large enough to discharge the capacitor in a reasonable time, but small
enough to avoid unnecessary power waste.
Because a bleeder sets a minimum current drain, the regulation of the circuit,
defined as percentage voltage change from minimum to maximum load, is improved.
However in many cases the improvement is of insignificant magnitude.
The capacitor and the load resistance have a typical time constant τ = RC where C
and R are the capacitance and load resistance respectively. As long as the load resistor is
large enough so that this time constant is much longer than the time of one ripple cycle, the
above configuration will produce a smoothed DC voltage across the load.
In some designs, a series resistor at the load side of the capacitor is added. The
smoothing can then be improved by adding additional stages of capacitor–resistor pairs,
often done only for sub-supplies to critical high-gain circuits that tend to be sensitive to
supply voltage noise.
The idealized waveforms shown above are seen for both voltage and current when
the load on the bridge is resistive. When the load includes a smoothing capacitor, both the
voltage and the current waveforms will be greatly changed. While the voltage is smoothed,
as described above, current will flow through the bridge only during the time when the
input voltage is greater than the capacitor voltage. For example, if the load draws an
average current of n Amps, and the diodes conduct for 10% of the time, the average diode
current during conduction must be 10n Amps. This non-sinusoidal current leads to
harmonic distortion and a poor power factor in the AC supply.

In a practical circuit, when a capacitor is directly connected to the output of a

bridge, the bridge diodes must be sized to withstand the current surge that occurs when the
power is turned on at the peak of the AC voltage and the capacitor is fully discharged.
Sometimes a small series resistor is included before the capacitor to limit this current,
though in most applications the power supply transformer's resistance is already sufficient.

Output can also be smoothed using a choke and second capacitor. The choke tends
to keep the current (rather than the voltage) more constant. Due to the relatively high cost
of an effective choke compared to a resistor and capacitor this is not employed in modern
equipment.

Some early console radios created the speaker's constant field with the current from
the high voltage ("B +") power supply, which was then routed to the consuming circuits,

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(permanent magnets were considered too weak for good performance) to create the
speaker's constant magnetic field. The speaker field coil thus performed 2 jobs in one: it
acted as a choke, filtering the power supply, and it produced the magnetic field to operate
the speaker

[Link] Voltage Regulator:

A voltage regulator is an electrical regulator designed to automatically maintain a

constant voltage [Link] 78xx (also sometimes known as LM78xx) series of devices is a
family of self-contained fixed linear voltage regulator integrated circuits. The 78xx family
is a very popular choice for many electronic circuits which require a regulated power
supply, due to their ease of use and relative cheapness. When specifying individual ICs
within this family, the xx is replaced with a two-digit number, which indicates the output
voltage the particular device is designed to provide (for example, the 7805 has a 5 volt
output, while the 7812 produces 12 volts). The 78xx line is positive voltage regulators,
meaning that they are designed to produce a voltage that is positive relative to a common
ground. There is a related line of 79xx devices which are complementary negative voltage
regulators. 78xx and 79xx ICs can be used in combination to provide both positive and
negative supply voltages in the same circuit, if necessary.

78xx ICs have three terminals and are most commonly found in the TO220 form
factor, although smaller surface-mount and larger TrO3 packages are also available from
some manufacturers. These devices typically support an input voltage which can be
anywhere from a couple of volts over the intended output voltage, up to a maximum of 35
or 40 volts, and can typically provide up to around 1 or 1.5 amps of current (though smaller
or larger packages may have a lower or higher current rating).

Fig [Link] block diagram of voltage regulator

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 CHAPTER 5

RESULTS & DISCUSSIONS

Fig 5.1 Pick and Place a robot by using voice and gesture

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 CHAPTER 6

CONCLUSION AND FUTURE SCOPE

CONCLUSION :

Human-Robot interaction is an important, attractive and challenging area in HRI.

The Service Robot popularity gives the researcher more interest to work with user
interface for robots to make it more user friendly to the social context. Speech Recognition
(SR) technology gives the researcher the opportunity to add Natural language (NL)
communication with robot in natural and even way. The working domain of the Service
Robot is in the society -to help the people in every day’s life and so it should be controlled
by the human. Our future work will focus on introducing more complex activities and
sentence to the system and also introducing the non-speech sound recognition, like
footsteps (close), footsteps (distant) etc. Humans normally use gestures such as pointing to
an object or a direction with the spoken language, i.e., when the human speaks with
another human about a close object or location, they normally point at the object/location
by using their fingers.
FUTURE SCOPE:
The following recommendations has been suggested to improve the proposed
research interms of handling jerk limits of robotic manipulator,scope for other
applications, consideration of orientation of the manipulator improving the autonomy of
trajectory planning system, intricacy in handling knots for STST, assumptions in via-
point generation, variants of obstacles in working environment and oppurtunities for
improving the collisions avoidance procedure

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 REFERENCES

[1] D. Bassily, C. Georgoulas, J. Güttler, T. Linner, T Bock, TU Munchen and Germany,

“Intuitive and Adaptive Robotic Arm Manipulation Using the Leap Motion
Controller”, Conference ISR ROBOTIK, 2014, Pages: 1 – 7.
[2] Pedro Neto, J. Norberto Pires, A. Paulo Moreira, “Accelerometer based control of an
industrial robotic arm”, IEEE Conference Publications, 2009, Pages: 1192 – 1197.
[3] Dino Dominic Ligutan, Alexander C. Abad, Elmer P. Dadios, Gokongwei College of
Engineering, De La Salle University, Manila, “Adaptive robotic arm control using
Artificial Network”, 2018 IEEE 10th Internatonal Conference on Humanoid,
Nanotechnology, Information technology, Communication, Control, Environment and
Management(HNICEM), 2018, Pages: 1 – 6.
[4] Neema Andrews, Sherin Jacob, Steffin Mammen Thomas, Sukumar S, Saints College
of Engineering, Kerala “Low-cost Robotic arm for differently using Voice Recognition”,
IEEE 3rd International Conference on Trends in Electronics and Informatics (ICOEI),
2019.
[5] Chien-Wei Chen, Rui-Ming Hing, Hung-Yu Wang, National Kaohsiung University of
Applied Sciences,Taiwan, “Design of a controlled robotic arm”, 2016 3rd
International Conference on Green Technology and Sustainable Development, 2016,
Pages: 22 – 23.
[6] Dinesh P Mital and Goh Wee Leng,” A Voice-Activated Robot With Artificial
Intelligence “, IECON International Conference on Industrial Electronics, Control and
Instrumentation.
[7] Vineeth Teeda, [Link], Rakesh Mutukuru," Robot Voice a Voice Controlled Robot
using Arduino ”, International Journal of Engineering and Advanced Technology (IJEAT)
ISSN: 2249 – 8958.
[8] Muhammed, J. N., Neetha, J., Muhammed, F., Midhun, M., Mithun, S. & Safwan, C.
N. “Wireless Control of Pick and Place Robotic Arm Using an Android Application”,
International Journal of Advanced Research in Electrical, Electronics and Instrumentation
Engineering

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 CHAPTER-7

APPENDIX

A.1Embedded Systems

A.1.1History

In the earliest years of computers in the 1940s, computers were sometimes

dedicated to a single task, but were too large to be considered "embedded". Over time
however, the concept of programmable controllers developed from a mix of computer
technology, solid state devices, and traditional electromechanical sequences. The first
recognizably modern embedded system 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. The use of the then new monolithic integrated circuits, to reduce the size and
weight, increased thisrisk.

The first 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. There has also been an enormous rise in processing power and functionality. For
example the first microprocessor was the Intel 4004, which found its way into calculators
and other small systems, but required external memory and support chips.

In 1978 National Engineering Manufacturers Association released the standard for

a programmable microcontroller. The definition was an almost any computer-based
controller. They included single board computers, numerical controllers, and sequential
controllers in order to perform event-based instructions.

By the mid-1980s, many of the previously external system components had been
integrated into the same chip as the processor, resulting in integrated circuits called
microcontrollers, and widespread use of embedded systems became feasible.

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 As the cost of a microcontroller fell below $1, it became feasible to replace
expensive knob-based analog components such as potentiometers and variable capacitors
with digital electronics controlled by a small microcontroller with up/down buttons or
knobs. By the end of the 80s, embedded systems were the norm rather than the exception
for almost all electronics devices, a trend which has continued since.

A.2Arduino
Arduino interface boardsprovide the engineers, artists, designers, hobbyists and
anyone who tinker with technology with a low-cost, easy-to-use technology to create their
creative, interactive objects, useful projects etc., A whole new breed of projects can now
be built that can be controlled from a computer.

A.2.1 Microcontroller

Microcontroller can be described as a computer embedded on a rather small circuit

board. To describe the function of a microcontroller more precisely, it is a single chip that
can perform various calculations and tasks, and send/receive signals from other devices
via the available pins. Precisely what tasks and communication with the world it does, is
what is governed by what instructions we give to the Microcontroller. It is this job of
telling the chip what to do, is what we refer to as programming on it.

However, the µC by itself cannot accomplish much; it needs several external

inputs: power, for one; a steady clock signal, for another. Also, the job of programming it
has to be accomplished by an external circuit. So typically, a uC is used along with a
circuit which provides these things to it; this combination is called a microcontroller
board. The Arduino Uno that you have received, is one such microcontroller board. The
actual microcontroller at its heart is the chip called Atmega328. The advantages that
Arduino offers over other microcontroller boards are largely in terms of reliability of the
circuit hardware as well as the ease of programming and using it.

A.2.2 Open-source hardware

Open-source hardware shares much of the principles and approach of free and
open-source software. The founders of Arduino wanted people to study their hardware, to
understand how it works, make changes to it, and share those changes with the world. To
facilitate this, they release all of the original design files(Eagle CAD)for the Arduino
hardware. These files are licensed under a Creative Common Attribution Share-Alike
license, which allows for both personal and commercial derivative works, as long as

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 they(people) credit Arduino and release their designs under the same license.

The Arduino software is also open-source. The source code for the Java
environment is released under the GPL and the C/C++ microcontroller libraries are under
the LGPL.

A.2.3 Design Goals

• Work with a Mac (as most design students useone)

• USB connectivity (MacBooks don’t have serialports

• Looknice

• Cheap (about 20 euros, the cost of going out for pizza inEurope)

• More powerful than a BASICstamp

• Something you could build/fixyourself

Simple and easy to use by someone without formal electronics training

A.3Atmega328
The Atmel ATmega328/P is a low-power CMOS 8-bit microcontroller based on the
AVR enhanced RISC architecture. By executing powerful instructions in a single clock
cycle, the ATmega328/P achieves throughputs close to 1MIPS per MHz this empowers
system design.

The Atmel AVR core combines a rich instruction set with 32 general purpose
working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit
(ALU), allowing two independent registers to be accessed in a single instruction executed
in one clock cycle. The resulting architecture is more code efficient while achieving
throughputs up to ten times faster than conventional CISC microcontrollers. The
ATmega328/P provides the following features: 32Kbytes of In-System Programmable
Flash with Read-While-Write capabilities, 1Kbytes EEPROM, 2Kbytes SRAM, 23 general
purpose I/O lines, 32 general purpose working registers, Real Time Counter (RTC), three
flexible Timer/Counters with compare modes and PWM, 1 serial programmable USARTs ,
1 byte-oriented 2-wire Serial Interface (I2C), a 6- channel 10-bit ADC (8 channels in
TQFP and QFN/MLF packages) , a programmable Watchdog Timer with internal
Oscillator, an SPI serial port, and six software selectable power saving modes.

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 The Idle mode stops the CPU while allowing the SRAM; Timer/Counters, SPI port,
and interrupt system to continue functioning. The Power-down mode saves the register
contents but freezes the Oscillator, disabling all other chip functions until the next interrupt
or hardware reset. In Power-save mode, the asynchronous timer continues to run, allowing
the user to maintain a timer base while the rest of the device is sleeping. The ADC Noise
Reduction mode stops the CPU and all I/O modules except asynchronous timer and ADC
to minimize switching noise during ADC conversions. In Standby mode, the
crystal/resonator oscillator is running while the rest of the device is sleeping. This allows
very fast start-up combined with low power consumption. In Extended Standby mode, both
the main oscillator and the asynchronous timer continue to run.

The device is manufactured using Atmel’s high density non-volatile memory

technology. The On-chip ISP Flash allows the program memory to be reprogrammed In-
System through an SPI serial interface, by a conventional nonvolatile memory
programmer, or by an On-chip Boot program running on the AVR core. The Atmel
ATmega328/P is a powerful microcontroller that provides a highly flexible and cost
effective solution to many embedded control applications. The ATmega328/P is supported
with a full suite of program and system development tools including: C Compilers, Macro
Assemblers and Program Debugger/Simulators, In-Circuit Emulators and Evaluation kits.

A.3.1Configuration summary

Features Atmega328/p

Pin count 28/32

Flash (bytes) 32k

SRAM(bytes) 2k

EEPROM(bytes) 1k

General purpose I/O lines 23

SPI 2

TWI(i2c) 1

USART 1

ADC 10 bit 15Ksps

ADC Channels 8

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8-bite Timer counter 2

16 bite Timer counter 1

Table A1: Features of Atmega328

A.3.2Atmega328 Pin Diagram

Fig A1: Pin Configuration of Atmega328

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Pin Category Pin Name Details

Vin: Input voltage to Arduino when using an external

power source.
5V: Regulated power supply used to power
Vin, 3.3V, 5V, microcontroller and other components on the board.
Power
GND
3.3V: 3.3V supply generated by on-board voltage
regulator. Maximum current draw is 50mA.
GND: ground pins.

Reset Reset Resets the microcontroller.

Analog Pins A0 – A5 Used to provide analog input in the range of 0-5V

Input/output Digital Pins 0 –

Can be used as input or output pins.
Pins 13

Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.

External
2, 3 To trigger an interrupt.
Interrupts

PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.

10 (SS), 11
(MOSI), 12
SPI Used for SPI communication.
(MISO) and 13
(SCK)

Inbuilt LED 13 To turn on the inbuilt LED.

A4 (SDA), A5
TWI Used for TWI communication.
(SCA)

AREF AREF To provide reference voltage for input voltage.

Table A2: Details of Pins in Atmega328

A.4Arduino IDE
A.4.1 Introduction

The Arduino is an open source, computer hardware and software company project, and
user community that designs and manufactures microcontroller kits for building digital devices
and interactive objects that can sense and control objects in the physicalworld.

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

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 expansion boards and other circuits. The boards feature serial communications interface,
including USB on some models, which are also used for loading programs from personal
computers.

In addition to using traditional compiler tool chains, the Arduino project provides an
Integrated development environment (IDE) based on language project. This tutorial will walk
you through downloading, installing, and testing the Arduino Software(also known as the
Arduino IDE-short for integrated development environment).

A.4.2 Getting Started:

You can find in the Getting Started section all the information you need to configure your
board, use the Arduino Software (IDE), and start tinker with coding and electronics. Full details
and examples on how to use the Wi-Fi interface are available in the Wi-Fi 101 Library reference
page.

• On the Software on the ArduinoForum

• On Projects on the ArduinoForum

• On the Product itself through our CustomerSupport.

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