PROJECT REPORT

[2008-09]

Page 1
 PROJECT REPORT ON

SUBMITTED BY:
NAME ROLL NO.

ANIKET BHOR 2

AMOL BOTIKAR 4

PRALHAD JAGTAP 12

GUIDED BY:

Prof. Mr. Pravin Matte

Department of Electronics and Telecommunication
G.H.R.C.E.M., Wagholi, Pune

University of Pune
Academic Year 2008-2009

Page 2
 G. H. Raisoni
College of Engineering & Management,Wagholi,Pune.

Certificate
This is to certify that
1. Aniket Bhor
2. Amol Botikar
3. Pralhad Jagtap

Studying in year T.E. branch E&TC have satisfactorily

completed the project work of Cell Phone Operated Robot
topic in fulfillment of mini project in Electronic System
Design & Mini Project during the academic year 2008-09.

Project Guide H. O. D.
Prof. Mr. Pravin Matte Col. Mr. Vijay Joshi

Principal
Dr. Mr. Dilip Shah

Page 3
 ACKNOWLEDGEMENT

We feel profound pleasure in bringing out this

projects report for which we have to go from pillar to post to
make it a reality. This project work reflects contributions of
many people with whom we had long discussions and without
which it would not have been possible. We must first of all,
express our heartiest gratitude to respected Prof. Pravin
Matte (Dept. of E&TC) for providing us all guidance to
complete project.
It would be unfair if we do not mention the
invaluable contribution and timely co-operation extended to
us by staff member of our department. And especially we can
never forget the most worthy advices given by Col. Vijay Joshi
(H.O.D., Dept of E&TC), that would help us the entire lifetime.
Last but not the least we express our sincere
thanks to the institute G.H.R.C.E.M., Wagholi, Pune for
providing such a platform for implementing the ideas in our
mind.

Page 4
INDEX Page No.

1. PREFACE
A) INTRODUCTION………………………………………………………..7

B) HISTORY…………………………………………………………………10

C) TECHNOLOGY USED (DTMF SIGNALLING)………………………13

2. DESIGN OF THE PROJECT

A) PRELIMINARY DESIGN

i) BLOCK DIAGRAM………………………………………..19

ii) COMPONENTS USED……………………………………20

iii) CIRCUIT DIAGRAM………………………………………21

B) PROBLEMS ENCOUNTERED………………………………………..22

C) FINAL DESIGN

i) PCB LAYOUT……………………………………………….26

ii) CIRCUIT DESCRIPTION………………………………….28

iii) PROGRAM CODE………………………………………….30

iv) FLOWCHART………………………………………………32

Page 5
D) SOFTWARES USED……………………………………………………33

i) DipTrace

ii) µVision Keil

iii) FlashMagic

3. SCOPE OF THE PROJECT

1.APPLICATIONS……………………………………………..37

2. FURTHER IMPROVEMENTS & FUTURE SCOPE…….42

4. REFERENCES ..…………………………………….....45

5.DATASHEETS .....................................................47

Page 6
INTRODUCTION

Page 7
INTRODUCTION :

Radio control (often abbreviated to R/C or

simply RC) is the use of radio signals to remotely control a
device. The term is used frequently to refer to the control of
model vehicles from a hand-held radio transmitter. Industrial,
military, and scientific research organizations make [traffic]
use of radio-controlled vehicles as well.

A remote control vehicle is defined as any

mobile device that is controlled by a means that does not
restrict its motion with an origin external to the device. This is
often a radio control device, cable between control and
vehicle, or an infrared controller. A remote control vehicle
(Also called as RCV) differs from a robot in that the RCV is
always controlled by a human and takes no positive action
autonomously.

One of the key technologies which underpin this

field is that of remote vehicle control. It is vital that a vehicle
should be capable of proceeding accurately to a target area;
maneuvering within that area to fulfill its mission and
returning equally accurately and safely to base.

Page 8
 Recently, Sony Ericsson released a remote control car
that could be controlled by any Bluetooth cell phone. Radio is
the most popular because it does not require the vehicle to be
limited by the length of the cable or in a direct line of sight
with the controller (as with the infrared set-up). Bluetooth is
still too expensive and short range to be commercially viable.

Page 9
HISTORY

Page 10
HISTORY OF REMOTE CONTROLLED VEHICLES:

The First Remote Control Vehicle /

Precision Guided Weapon :
This propeller-driven radio controlled boat,
built by Nikola Tesla in 1898, is the original prototype of all
modern-day uninhabited aerial vehicles and precision guided
weapons. In fact , all remotely operated vehicles in air, land or
sea. Powered by lead-acid batteries and an electric drive
motor, the vessel was designed to be maneuvered alongside a
target using instructions received from a wireless remote-
control transmitter. Once in position, a command would be
sent to detonate an explosive charge contained within the
boat's forward compartment. The weapon's guidance system
incorporated a secure communications link between the
pilot's controller and the surface-running torpedo in an effort
to assure that control could be maintained even in the
presence of electronic countermeasures. To learn more about
Tesla's system for secure wireless communications and his
pioneering implementation of the electronic logic-gate circuit
read ‘Nikola Tesla — Guided Weapons & Computer
Technology’, Tesla Presents Series Part 3, with commentary by
Leland Anderson.

Page 11
Use of Remote Controlled Vehicles During
World War II :

During World War II in the European Theater

the U.S. Air Force experimented with three basic forms radio-
control guided weapons. In each case, the weapon would be
directed to its target by a crew member on a control plane.
The first weapon was essentially a standard bomb fitted with
steering controls. The next evolution involved the fitting of a
bomb to a glider airframe, one version, the GB-4 having a TV
camera to assist the controller with targeting. The third class
of guided weapon was the remote controlled B-17.
It's known that Germany deployed a number of
more advanced guided strike weapons that saw combat before
either the V-1 or V-2. They were the radio-controlled
Henschel's Hs 293A and Ruhrstahl's SD1400X, known as "Fritz
X," both air-launched, primarily against ships at sea.

Page 12
TECHNOLOGY USED

Page 13
TECHNOLOGY USED :

Dual-Tone Multi-Frequency (DTMF)

Dual-tone multi-frequency (DTMF) signaling is

used for telecommunication signaling over analog telephone
lines in the voice-frequency band between telephone handsets
and other communications devices and the switching center.
The version of DTMF used for telephone tone dialing is known
by the trademarked term Touch-Tone (canceled March 13,
1984), and is standardized by ITU-T Recommendation Q.23. It
is also known in the UK as MF4. Other multi-frequency
systems are used for signaling internal to the telephone
network.

As a method of in-band signaling, DTMF tones

were also used by cable television broadcasters to indicate the
start and stop times of local commercial insertion points
during station breaks for the benefit of cable companies. Until
better out-of-band signaling equipment was developed in the
1990s, fast, unacknowledged, and loud DTMF tone sequences
could be heard during the commercial breaks of cable
channels in the United States and elsewhere.

Page 14
Telephone Keypad

The contemporary keypad is laid out in a 3×4

grid, although the original DTMF keypad had an additional
column for four now-defunct menu selector keys. When used
to dial a telephone number, pressing a single key will produce
a pitch consisting of two simultaneous pure tone sinusoidal
frequencies. The row in which the key appears determines the
low frequency, and the column determines the high frequency.
For example, pressing the '1' key will result in a sound
composed of both a 697 and a 1209 hertz (Hz) tone. The
original keypads had levers inside, so each button activated
two contacts. The multiple tones are the reason for calling the
system multifrequency. These tones are then decoded by the
switching center to determine which key was pressed.

A DTMF Telephone Keypad

Page 15
 DTMF Keypad Frequencies (With Sound Clips)

1209 Hz 1336 Hz 1477 Hz 1633 Hz

697 Hz 1 2 3 A
770 Hz 4 5 6 B
852 Hz 7 8 9 C
941 Hz * 0 # D

DTMF Event Frequencies

Event Low Freq. High Freq.

Busy Signal 480 Hz 620 Hz
Dial Tone 350 Hz 440 Hz
Ringback Tone(US) 440 Hz 480 Hz

Page 16
Tones #, *, A, B, C, and D

The engineers had envisioned phones being

used to access computers, and surveyed a number of
companies to see what they would need for this role. This led
to the addition of the number sign (#, sometimes called
'octothorpe' in this context) and asterisk or "star" (*) keys as
well as a group of keys for menu selection: A, B, C and D. In the
end, the lettered keys were dropped from most phones, and it
was many years before these keys became widely used for
vertical service codes such as *67 in the United States and
Canada to suppress caller ID.

The U.S. military also used the letters, relabeled,

in their now defunct Autovon phone system. Here they were
used before dialing the phone in order to give some calls
priority, cutting in over existing calls if need be. The idea was
to allow important traffic to get through every time. The levels
of priority available were Flash Override (A), Flash (B),
Immediate (C), and Priority (D), with Flash Override being the
highest priority.

Page 17
PRLIMINARY DESIGN

Page 18
1. BLOCK DIAGRAM :

DESCRIPTION:
As shown in the above block diagram, first
fi block
is the Cell Phone. So, it acts as a DTMF generator with tone
depending upon key pressed. DTMF Decoder ,i.e., IC CM8870
decodes the received tone & gives binary equivalent of it to the
microcontroller. The controller is programmed such that
appropriate output is given to Motor Driver IC L293D which
will drive the two DC Motors connected to it. The concept used
for driving is ‘Differential Drive’. So, ultimately the two motors
rotate according to the key pressed on the keypad of the cell
phone.

Page 19
2. COMPONENTS USED:

1) RESISTORS: 2) CAPACITORS:
VALUE QUANTITY
VALUE QUANTITY
56K 4
0.1 µF 3
150K 1
22 µF 4
10K 6
10 µF 1
47K 1
68K 1
330K 1

3) OSCILLATORS: 4)ICs:
VALUE QUANTITY
VALUE QUANTITY
CM 8870 1
3.57 MHz 1
HD7404 LS 1
12 MHz 1
P89V51 RD2 1
L293D NE 1
L7805 CV 1

5) MISCELLANEOUS:

COMPONENT QUANTITY
6V ,200 RPM DC MOTOR 2
ZENER DIODE, 5.6V 2
RESET SWITCH 1
9V DC BATTERY 2
CONNECTING WIRES -

Page 20
3. CIRCUIT DIAGRAM :

Page 21
 PROBLEMS
ENCOUNTERED

Page 22
PROBLEMS FACED :

Although the concept & design of the project

seemed perfect, there were some problems faced while actual
implementation:

1. Connecting HandsFree of cell phone to DTMF

decoder IC input:
There were several types of HandsFree cords
available in the market, the right one had to be chosen from
them. Several ways to break up the cords and connect them to
the input of IC 8870 were tried & some were newly developed
by us (e.g. Connecting Audio Jack of PC's speakers to the cell
phone with help of an extender).

Solution:
Finally HandsFree cord's 'Earplugs' were
removed & resulting set of wires were connected in an
appropriate manner to the Decoder IC's input.

Page 23
2. Selection of Mobile Phone:

At first, latest cell phone like Nokia 5700,

N-series were tried. But they couldn't give any output. Several
cell phones were tested with their respective Hansfree cords.

Solution:
The older version phones like Nokia 1100,Nokia
2300 were found to be more suitable for the purpose. Finally
Nokia 3315 was used.

Page 24
FINAL DESIGN

Page 25
FINAL DESIGN :

1. PCB LAYOUT :

Page 26
ACTUAL PCB PHOTOGRAPH :

SIDE VIEW:

TOP VIEW :

Page 27
2. CIRCUIT DESCRIPTION :

The important components of this robot are a DTMF decoder,

microcontroller and motor driver.
A CM8870 series DTMF decoder is used here. All types of the
CM8870 series use digital counting techniques to detect and
decode all the 16 DTMF tone pairs into a 4-bit code output.
The built-in dial tone rejection circuit eliminates the need of
pre-filtering.

When the input signals are given at pins 1(IN+)

& 2(IN-) , a differential input configuration is recognized to be
effective, the correct 4-bit decode signal of the DTMF tone is
transferred to (pin11) through (pin14) outputs. The pin11 to
pin14 of DTMF decoder are connected to the pins of
microcontroller (P1.4 to P1.7).

The 89V51RD2 is a 8-bit 80C51, 5V low power

64 kB Flash microcontroller with 1 kB RAM. it provides the
following features: 64 kB of on-chip Flash program memory
with ISP (In-System Programming) and IAP (In-Application
Programming), Four 8-bit I/O ports with three high-current
Port 1 pins (16 mA each),Three 16-bit timers/counters.

Page 28
 Outputs from port pins P0.0 through P0.3 and
P0.7 of the microcontroller are fed to the inputs IN1 through
IN4 and enable pins (EN1 and EN2) of motor driver L293D IC,
respectively to drive two geared dc motors. Switch S1 is used
for manual reset. The microcontroller output is not sufficient
to drive the dc motors, so current drivers are required for
motor rotation.

The L293D is a quad, high-current, half-h driver

designed to provide bidirectional drive currents of up to
600mA at voltages from 4.5V to 36V. It makes it easier to drive
the dc motors. The L293D consists of four drivers. Pins IN1
through IN4 and OUT1 through OUT4 are the input and output
pins, respectively of driver 1 through driver 4. Drivers 1 and 2,
and driver 3 and 4 are enabled by enable pin 1(EN1) and pin 9
(EN2), respectively. When enable input EN1 (pin1) is high,
drivers 1 and 2 are enabled and the outputs corresponding to
their inputs are active. Similarly, enable input EN2 (pin9)
enables drivers 3 and 4.

The motors are rotated according to the status

of IN1 to IN4 pins of L293D which in turn are depending on
output pins of microcontroller, viz., P0.0 - P0.3.

Page 29
3. PROGRAM CODE :

FILENAME: Project_Final.asm

; CELL PHONE OPERATED ROBOT

;P1.4-P1.7 ---> 8051 i/p ---> Connected to DTMF o/p

;P0.0-P0.3 ---> 8051 o/p ---> Connected to L293D

org 0000h
mov p1,#0ffh ; Make P1 as i/p port

L1: mov a,p1

anl a,#0ffh

cjne a,#0b0h,L2 ;DTMF o/p= 2

mov p0,#8ah ;M1 & M2 both Forward

Page 30
 ljmp L1

L2: cjne a,#0e0h,L3 ;DTMF o/p= 8

mov p0,#85h ;M1 & M2 both Reverse
ljmp L1

L3: cjne a,#50h,L4 ;DTMF o/p= 5

mov p0,#80h ;M1 & M2 both Off
ljmp L1

L4: cjne a,#0d0h,L5 ;DTMF o/p= 4

mov p0,#86h ;M1 = Rev , M2 = Fwd
ljmp L1

L5: cjne a,#90h,L1 ;DTMF o/p= 6

mov p0,#89h ;M1 = Fwd , M2 = Rev
ljmp L1

end

Page 31
4. FLOWCHART

START

READ THE INPUT

FROM DTMF
DECODER (PORT 1)

M1=FWD CALL
IF INPUT=2
APPROPRIATE
M2=FWD DELAY

M1=REV CALL
IF INPUT=8
APPROPRIATE
M2=REV DELAY

M1=STOP CALL
IF INPUT=5
APPROPRIATE
M2=STOP DELAY

M1=REV CALL
IF INPUT=4
APPROPRIATE
M2=FWD DELAY

IF INPUT=6 M1=FWD CALL

APPROPRIATE
M2=REV DELAY

Page 32
SOFTWARES USED

Page 33
SOFTWARES USED :

1. DipTrace

• ROLE IN THE DESIGN:

DipTrace 1.50 proved to be a very handy & easy-
to-use tool for the PCB layout process. Many of its features
were utilized leading to an accurate & efficient design. It has
Design Error Check & Electrical Rule Check tools which
proved to be helpful in the design. It is loaded with a huge
component list that is categorized in various libraries for
giving simplicity. Placement of components is also very easy
& they can be rotated in 360⁰ to customize the design.

• WORKING WITH DipTrace :

Page 34
2. µVision Keil

• ROLE IN THE DESIGN:

µVision Keil provides IDE for 8051 programming

& is very easy to use. When starting a new project, simply
select the microcontroller you use from the Device Database
and the µVision IDE sets all Compiler, Assembler, Linker, and
Memory options. It’s device database is large which supports
many ICs of the 8051 family. A HEX file can be created with the
help of Keil which is required for burning onto chip. It has a
powerful debugging tool which detects most of the errors in
the program.

• WORKING WITH µVision Keil :

Page 35
3. FlashMagic

• ROLE IN THE DESIGN:

Flash Magic is a PC tool for programming flash

based microcontrollers from NXP using a serial or Ethernet
protocol while in the target hardware. It has some excellent
features like changeable baud rate, erase all flash before
programming, setting security bits etc. The HEX file created with
the help of keil was selected through it for programming the
microcontroller.

• WORKING WITH FlashMagic :

Page 36
APPLICATIONS

Page 37
APPLICATIONS :

Scientific
Remote control vehicles have various scientific
uses including hazardous environments, working in the deep
ocean , and space exploration. The majority of the probes to
the other planets in our solar system have been remote
control vehicles, although some of the more recent ones were
partially autonomous. The sophistication of these devices has
fueled greater debate on the need for manned spaceflight and
exploration. The Voyager I spacecraft is the first craft of any
kind to leave the solar system. The martian explorers Spirit
and Opportunity have provided continuous data about the
surface of Mars since January 3, 2004.

Military and Law Enforcement

Military usage of remotely controlled military

vehicles dates back to the first half of 20th century. Soviet Red
Army used remotely controlled Teletanks during 1930s in the
Winter War and early stage of World War II. There were also

Page 38
remotely controlled cutters and experimental remotely
controlled planes in the Red Army.

Remote control vehicles are used in law

enforcement and military engagements for some of the same
reasons. The exposure to hazards are mitigated to the person
who operates the vehicle from a location of relative safety.
Remote controlled vehicles are used by many police
department bomb-squads to defuse or detonate explosives.
See Dragon Runner, Military robot.

Unmanned Aerial Vehicles (UAVs) have

undergone a dramatic evolution in capability in the past
decade. Early UAV's were capable of reconnaissance missions
alone and then only with a limited range. Current UAV's can
hover around possible targets until they are positively
identified before releasing their payload of weaponry.
Backpack sized UAV's will provide ground troops with over
the horizon surveillance capabilities.

Page 39
Search and Rescue

UAVs will likely play an increased role in search

and rescue in the United States. Slowly other European
countries (even some developing nations) are thinking about
making use of these vehicles in case of natural calamities &
emergencies. This can be a great asset to save lives of both
people along with soldiers in case of terrorist attacks like the
one happened in 26 Nov, 2008 in Mumbai, India. The loss of
military personnel can be largely reduced by using these
advanced methods. This was demonstrated by the successful
use of UAVs during the 2008 hurricanes that struck Louisiana
and Texas.

Recreation and Hobby

See Radio-controlled model. Small scale remote

control vehicles have long been popular among hobbyists.
These remote controlled vehicles span a wide range in terms
of price and sophistication. There are many types of radio
controlled vehicles. These include on-road cars, off-road

Page 40
trucks, boats, airplanes, and even helicopters. The "robots"
now popular in television shows such as Robot Wars, are a
recent extension of this hobby (these vehicles do not meet the
classical definition of a robot; they are remotely controlled by
a human). Radio-controlled submarine also exist.

Page 41
 FURTHER
IMPROVEMENTS &
FUTURE SCOPE

Page 42
FURTHER IMPROVEMENTS & FUTURE SCOPE :

1. IR Sensors:

IR sensors can be used to automatically detect &

avoid obstacles if the robot goes beyond line of sight. This
avoids damage to the vehicle if we are maneuvering it from a
distant place.

2. Password Protection:

Project can be modified in order to password

protect the robot so that it can be operated only if correct
password is entered. Either cell phone should be password
protected or necessary modification should be made in the
assembly language code. This introduces conditioned access &
increases security to a great extent.

Page 43
3. Alarm Phone Dialer:

By replacing DTMF Decoder IC CM8870 by a

'DTMF Transceiver IC’ CM8880, DTMF tones can be generated
from the robot. So, a project called 'Alarm Phone Dialer' can be
built which will generate necessary alarms for something that
is desired to be monitored (usually by triggering a relay). For
example, a high water alarm, low temperature alarm, opening
of back window, garage door, etc.
When the system is activated it will call a
number of programmed numbers to let the user know the
alarm has been activated. This would be great to get alerts of
alarm conditions from home when user is at work.

4. Adding a Camera:

If the current project is interfaced with a camera

(e.g. a Webcam) robot can be driven beyond line-of-sight &
range becomes practically unlimited as GSM networks have a
very large range.

Page 44
REFERENCES

Page 45
REFERENCES:

1. Wikipedia - The free encyclopedia

2. http://www.8051projects.info/

3. http://www.instructables.com/

4. Schenker, L (1960), "Pushbutton Calling with a Two-Group

Voice-Frequency Code", The Bell system technical journal 39
(1): 235–255, ISSN 0005-8580

5. “DTMF Tester” , ‘Electronics For You’ Magazine , Edition

(June 2003)

6. http://www.alldatasheet.com/

7. http://www.datasheet4u.com/

8. http://www.datasheetcatalog.com/

Page 46
DATASHEETS

Page 47