MOBILE OPERATED ROBOT

A PROJECT REPORT

submitted to

GOVERNMENT POLYTECHNIC AURANGABAD

(An Autonomous Institute of Govt. of Maharashtra)

by
MORE YOGITA K. (108086)
NAPHADE KOMAL R. (108090)
NARNAWALE SHWETA S. (108091)
in partial fulfillment for the award
of

DIPLOMA IN
ELECTRONICS AND TELECOMMUNICATION
ENGINEERING
DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION
GOVERNMENT POLYTECHNIC AURANGABAD
(An Autonomous Institute of Govt. of Maharashtra)

ACADEMIC YEAR 2012-13

MOBILE OPERATED ROBOT

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MOBILE OPERATED ROBOT

A PROJECT REPORT
submitted to

GOVERNMENT POLYTECHNIC AURANGABAD

(An Autonomous Institute of Govt. of Maharashtra)

By
MORE YOGITA K. (108086)
NAPHADE KOMAL R. (108090)
NARNAWALE SHWETA S. (108091)
Under the guidance of

Prof A. S. Patil.
in partial fulfillment for the award
of

DIPLOMA IN
ELECTRONICS AND TELECOMMUNICATION
ENGINEERING
DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION
GOVERNMENT POLYTECHNIC AURANGABAD
(An Autonomous Institute of Govt. of Maharashtra)

ACADEMIC YEAR 2012-13

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CERTIFICATE

This is to certify that the project report entitled,

MOBILE OPERATED ROBOT
submitted by
MORE YOGITA K. (108086)
NAPHADE KOMAL R. (108090)
NARNAWALE SHWETA S. (108091)

to the Government Polytechnic Aurangabad (An Autonomous Institute of

Government of

Maharashtra) in partial fulfillment for the award

of

Diploma in Electronics and Telecommunication Engineering is a

bonafide record of the project work carried out by them under my
supervision during the year 2012-2013.

Prof. A. S. Patil

Prof. A S Giri

Project Guide

Head of the
Department

Prof. P R Pattalwar
Principal
Government Polytechnic Aurangabad

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CONTENTS
TITLE

PAGE

ACKNOWLEDGEMENTS.................................................................................................05
ABSTRACT..........................................................................................................................06
LIST OF TABLES ...............................................................................................................07
LIST OF FIGURES .............................................................................................................07
ABBREVIATIONS ..............................................................................................................08
CHAPTER 1 INTRODUCTION.....09
1.1 INTRODUCTION.09
CHAPTER 2 LITERATURE SURVEY.10
2.1 TECHNOLOGY USED....11
2.2 PRILIMINARY DESIGN.15
2.3 PROBLEMS ENCOUNTERED..........18
2.4 FINAL DESIGN...........19
2.5 ACTUAL PCB PHOTOGRAPHS21
2.6 CIRCUIT DESCRIPTION...........22
2.7 WORKING...24
2.8 PROGRAM CODE...........25
2.9 SOFTWARE USED.....29
CHAPTER 3 DATASHEETS......33
3.1 89CS51.....33
3.2 CS9370.........35
3.3 L293DNE..37
CHAPTER 4 APPLICATIONS..38
4.1APPLICATIONS...38
4.2 FUTURE SCOPE.39
CONCLUSION.....40
REFERENCE.................................................................................................................... ...41

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ACKNOWLEDGEMENT
We have taken efforts in this project. However, it would not have been
possible without the kind support and help of many individuals and organizations. We
would like to extend our sincere thanks to all of them.
We highly indebted to Prof. A. S. Patil for their guidance and constant
supervision as well as for providing necessary information regarding the project&
also for their support in completing the project.We are also very much thankful to
Principal P. R. Pattalwar sir, for the facilities provided by him.
We would like to express our gratitude towards our parents & member of
Government Polytechnic Aurangabad for their kind co-operation and encouragement
which help us in completion of this project.
Our thanks and appreciations also go to our colleague in developing the
project and people who have willingly helped us out with their abilities.

More Yogita K. (108086)

Naphade Komal R. (108090)
Narnawale Shweta S. (108091)

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ABSTRACT
In this project, the robot is controlled by a mobile phone that makes a call to
the mobile phone attached to the robot. In the course of a call, if any button is pressed,
a tone corresponding to the button pressed is heard at the other end of the call. This
tone is called dual-tone multiple-frequency (DTMF) tone. The robot receives this
DTMF tone with the help of the phone stacked in the robot.
The received tone is processed by the microcontroller with the help of DTMF
decoder CS9370. The decoder decodes the DTMF tone into its equivalent binary digit
and this binary number is sent to the microcontroller. The microcontroller is
preprogrammed to take a decision for any given input and outputs its decision to
motor drivers in order to drive the motors for forward or backward motion or a turn.
The mobile that makes a call to the mobile phone stacked in the robot acts as a
remote. So you do not require the construction of receiver and transmitter units.
Conventionally, wireless-controlled robots use RF circuits, which have the
drawbacks of limited working range, limited frequency range and limited control. Use
of a mobile phone for robotic control can overcome these limitations. It provides the
advantages of robust control, working range as large as the coverage area of the
service provider, no interference with other controllers and up to twelve controls.

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LIST OF TABLES
TABLE TITLE

PAGE

1.1 DTMF event frequencies14

1.2 Components used...17

LIST OF FIGURES
FIGURE TITLE

PAGE

1.1 DTMF keypad frequency (with audio clips)..12

1.2 DTMF telephone keypad...13
1.3 Block diagram15
1.4 DTMF controller vehicle (circuit diagram)...16
1.5 Final PCB layout19
1.6 Bottom view of PCB..20
1.7 Top view of vehicle21
1.8 Side view of cehicle...21
1.9 Flowchart27
2.0 Window of vision keil.29
2.1 Window of cadstar 11.0.31
2.2 Window of flashmagic...32
2.3 Pin diagram of 89C5133
2.4 Pin diagram of CS9370..35
2.5 Pin diagram of L293DNE..37

ABBREVATIONS
1.DTMF:- Dual Tone Multiple Frequency.
2.PCB:- Printed Circuit Board.
3.RF:-Radio Frequency.
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4.RC:-Radio Control.
5.RCV:-Remote Control Vehicle.
6. ZTC:-Zuken Technology Center.
7.EN:- Enable
8. PEROM:- Programmable Erasable Read Only Memory.
9. UAV:- Unmaned Aerial Vehicle.
10.EA:- External Access.
11. ISP:- Insystem Programmable.
12. RST:- Reset.
13.PSEN:- Program Store Enable.
14. HEX:-Hexadecimal.
15. DC:- Direct Current.
16. RAM:- Random Access Memory.

CHAPTER 1: INTRODUCTION
1.1 INTRODUCTION
This module is based on DTMF decoder IC. When connected to cell phone
audio output it decodes DTMF tones and gives digital output suitable to interface with
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most of the microcontroller. With the use of this module user can make machines that
can be controlled through mobile phone.
Radio control (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 to make 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 restricts its motion with 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 (RCV) differs from a robot in that the RCV is
always controlled by 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 and safely to base.
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.

CHAPTER 2: LITERATURE SURVEY

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
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guided weapons. In fact, it is among all remotely operated vehicles in air, land or sea
[5].
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 boats forward compartment. The
weapons guidance system incorporated a secure communications link between the
pilots controller and the surface-running torpedo in an effort to assure that control
could be maintained even in the presence of electronic counter measures [6]
During World War II in the European Theatre the U.S. Air Force 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. Its 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 Herschels Hs293A and Ruhrstahls SD1400X, known as
FritzX, both air-launched, primarily against ships at sea [5].
A Robot can be defined as a programmable, self-controlled device consisting
of electronic, electrical, or mechanical units. More generally, it is a machine that
functions in place of a living agent. Robots are especially desirable for certain work
functions because, unlike humans, they never get tired; they can endure physical
conditions that are uncomfortable or even dangerous; they can operate in airless
conditions; they do not get bored by repetition. In future we can construct an
autonomous MobileRoboticArm that would exhibit sophisticated machine intelligence
behaviors.

2.1 TECHNOLOGY USED:

2.1.1 DUAL TONE MULTI-FREQUENCY (DTMF)

Dual Tone Multiple Frequency is the basis of voice communications control.

Modern telephone circuits use DTMF to dial numbers, configure telephone exchanges
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(switchboards) from remote locations, program certain equipment and so on. Almost
any mobile phone is capable of generating DTMF, providing a connection has already
been established. This is for the use of phone banking; voicemail services and other
DTMF controlled applications. DTMF was designed so that it is possible to use
acoustic transfer.
The DTMF tones can be sent from a standard speaker and be received using a
standard microphone (providing it is connected to a decoding circuit of some type).
DTMF tones are simply two frequencies played simultaneously by a standard home
phone/fax or mobile phone. Each key on your telephone's keypad has a unique
frequency assigned to it. When any key is pressed on your telephone's keypad the
circuit plays the corresponding DTMF tone and sends it to your local exchange for
processing.
DTMF tones can be imitated by using a White Box or Tone Dialer. It is also
possible to record DTMF tones using a tape recorder or computer microphone and
then played into the mouthpiece of your telephone to dial numbers. However if there
is a significant amount of background sound behind the recorded DTMF tones, the
tones may not work properly and cause problems when trying to dial numbers..
The name was given because the tone that we heard over the phone is actually
make up of two distinct frequency tone, hence the name dual tone. The DTMF tone is
a form of one way communication between the dialer and the telephone exchange. A
complete communication consist of the tone generator and the tone decoder. In this
article, we are use the IC CS9370, the main component to decode the input dial tone
to 5 digital output. These digital bits can be interface to a computer or microcontroller
for further application eg. Remote control, phone line transfer operation, LEDs, etc...
DTMF assigns a specific frequency to each keys that it can easily be identified
by the electronic circuit. The signal generated by the DTMF encoder is the direct
al-gebric submission, in real time of the amplitudes of two sine waves of different
frequencies, i.e. ,pressing 5 will send a tone made by adding 1336HZ and 770HZ to
the other end of the mobile. The tones and assignments in a DTMF system shown
below:

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High Group
Frequencies (Hz)
1209
1336
1477
1633
697
Low
Group
Freq.
770

852

Normal
Keypad

Extended
Keypad

Fig 1.1 DTMF Keypad Frequencies (with

audio clips)

2.1.2 TELEPHONE KEYPAD

The contemporary keypad is laid out in a 34 grid, although the original TMF
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

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of two simultaneous pure tone sinusoidal frequencies. The row in which the key
appears determines the low frequency and column determines high frequency.
For example, pressing the 1 key will result in a sound composed of both a667 and a
1209 hertz (Hz) tone. The original keypads had levers inside, so each button activated
two contacts.
The multiple tones are the reasons for calling the system multi frequency.
These tones are then decoded by the switching center to determine which key was
pressed.

2abc

3def

4ghi

5jkl

6mno

7pqrs

8tuv

9wxyz

FIG1.2 A DTMF TELEPHONE KEYPAD

DTMF EVENT FREQUENCIES

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Low Frequency

High Frequency

Busy signal

480 Hz

620 Hz

Dial Tone

350 Hz

440 Hz

Ring back Tone

440 Hz

480 Hz

Event

TABLE1.1
2.1.3 TONE #, *, A, B, C AND D
The engineers had envisioned phone 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 (#, sometime 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, 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

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2.2PRILIMINARY DESIGN
2.2.1 BLOCK DIAGRAM:-

FIG1.3 BLOCK DIAGRAM

As shown in above block diagram, first thing is the cell phone. So, it acts as DTMF
generator with tone depending upon key pressed. DTMF decoder, i.e. IC CS9370
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.

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2.2.2 CIRCUIT DIAGRAM:-

FIG 1.4 DTMF CONTROLLER (CIRCUIT DIAGRAM)

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2.2.3 COMPONENTS USED.

COMPONENT NAME
1.8051 microcontroller(89S51)
2.CS9370 dtmf decoder
3.L293DNE motor driver
4.330k resistors
5.330ohm resistors
6.1k resistor
7.IC7805
8.ON-OFF switch
9.Reset switch
10.10k resistor
11.33pf capacitor
12.0.1uf capacitor
13.Crystal(11.0592MHz)
14.Relement connector
15.3.5mm audio connector
16.10uf capacitor
17.Crystal(3.5MHz)
18.Gear Motor(200rpm)
19.12V DC battery
20.Transistor(CT2N3904)
21.LED

QUANTITY
1
1
1
3
1
1
1
1
1
1
2
2
1
4
1
1
1
2
1
4
2

TABLE1.2

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2.3 PROBLEMS ENCOUNTERED

Although the concept & design of the project seemed perfectly, there were
problems faced while actual implementation :
1. Selection of Mobile Phone :
At first, latest cell phone like Nokia 5700, N-series were tried. But they could
not give any output. Several cell phones were tested with their respective Hands Free
cords.
Solution :
The some version phones like Nokia C1-01, Nokia E5-00, and Nokia E7 were
found to be more suitable for the purpose. Finally Nokia 2700 was used.
2. Lack Of Current:
The DTMF decoder IC CS9370 lack sufficient current to drive the
microcontroller. While the microcontroller required 15mA current to drive the port,
the decoder provide a maximum 1 to 2mA current. Same problem occur when drive a
geared motor. Even a small geared motor of 200 RPM require a current of 70mA to
90mA for its rotation.
Solution :
For this reason we need a driver circuit, to increase the port current of the
microcontroller. This can be achieved by using an power transistor or by driver ICs.
To drive a geared motor we use motor driver IC i.e L293DNE.
And for boosting the current from decoder IC we connect the current boosting
transistors(CT2N3904) at output of decoder, and we get the sufficient current to drive
the ports of microcontroller.

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2.4 FINAL DESIGN

FIG1.5 FINAL PCB LAYOUT

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FIG1.6 BOTTOM VIEW OF PCB

2.5 ACTUAL PCB PHOTOGRAPH :

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2.6 CIRCUIT DESCRIPTION :

The important components of these vehicle are a DTMF decoder, microcontroller
and motor driver.
MOBILE: This is very first and the most important part of the system because due to this
only the entire system is activated and works. It will receive the signals from another
cell phone and gives them as input to DTMF decoder. First the system is activated by
calling the SIM card number inside the phone. Afterwards it will receive DTMF code
signals dialed from another cell phone and give it to DTMF decoder.
DTMF DECODER SECTION:A CS9370 series DTMF decoder is used here. All types of the CS9370 series
use digital counting techniques to detect and decode all the 16DTMF tone pairs into a
4-bit code output. The built in dial tone reject circuit eliminates the pre-filtering.

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When the input signals 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 pin 11 to pin14 of
DTMF decoder is connected to the pins of microcontroller (P1.4 toP1.7).
MICROCONTROLLER SECTION:You can call this block as the heart of entire system because it actually
performs all the controlling actions. Depending upon the code given by DTMF
decoder.Microcontroller AT89C51 is at the heart of the circuit. It is a low-power,
high-performance, 8-bit microcontroller with 4 kB of flash programmable and
erasable read-only memory (PEROM) used as on-chip program memory, 128 bytes of
RAM used as internal data memory, 32 individually programmable input/output (I/O)
lines divided into four 8-bit ports, two 16-bit programmable timers/counters, a fivevector two-level interrupt architecture, on-chip oscillator and clock circuitry. A
11.0592MHz crystal is used.

MOTOR DRIVER SECTION:While constructing any robot, one major mechanical constraint is the number
of motors being used. You can have either a two- wheel drive or a four-wheel drive.
Though four-wheel drive is more complex than two-wheel drive, it provides more
torque and good control. Two-wheel drive, on the other hand, is very easy to
construct. Motors are fixed to the bottom of this sheet and the circuit is affixed firmly
on top of the sheet. A cell phone is also mounted on the sheet. In the four-wheel drive
system, the two motors on a side are controlled in parallel. So a single L293D driver
IC can drive the Robotic Car.
Outputs from port pins P2.0 through P2.3 of the microcontroller are fed to the
inputs IN1 through IN4 & enable pins (EN1&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.

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Drivers1&2 and driver 3&4 are enabled by enable pin1 (EN1) and pin9 (EN2),
respectively. When enable input EN1 (pin1) is high, drivers 1and2 are enabled and the
outputs corresponding to their input 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 P2.0-P2.3.

2.7 WORKING
In order to control the robot, you have to make a call to the cellphone attached
to the robot from any phone.
now the phone is picked by the phone on the robot through auto answer mode
(which is in all the phone, just enable it).
now,
1. when you press 2 the robot will move forward.
This is because when we press the button 2 then the frequency generated by
this key is accepted by the dtmf decoder as a input, and by decoding this frequency i.e
converting into the binary form output is given to the microcontroller, as per the
programming in the microcontroller pins of output will ho high and motor starts
rotating. Similarly the conditions given below are satisfies.
2. when you press 4 the robot will move left
3. when you press 8 the robot will move backwards

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4. when you press 6 the robot will move right

5. when you press 5 the robot will stop.

2.8PROGRAM CODE
#include<reg51.h>
void delay(unsigned int);
void main(void)
{
P1=0x00;
P2=0x00;
P0=0x00;
P3=0x00;
while(1)
{
if(P1==0x40)
{
P2=0x0A;
}
if(P1==0x10)
{
P2=0x05;
}
if(P1==0x60)
{
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P2=0x02;
}
if(P1==0x20)
{
P2=0x08;
}
if(P1==0xA0)
{
P2=0xFF;
}
if(P1==0xC0)
{
P2=0x06;
}
if(P1==0x80)
{
P2=0x09;
}
if(P1==0x00)
{
P2=0x00;
}
}
}

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2.8.1 FLOW CHART :

START

READ THE INPUT FROM DTMF

DECODER (P1)

IF
INPUT= 2

M1 = FWD
M2 = FWD

IF
INPUT= 8

M1 = REV
M2 = REV

IF
INPUT= 5

M1 = STOP
M2 = STOP

IF
INPUT= 4

M1 = STOP
M2 = FWD

IF
INPUT= 6

M1 = FWD
M2 = STOP

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CONTINUED

IF

M1 = REV

INPUT= 1

M2 = FWD

IF

M1 = FWD

INPUT= 3

M2 = REV

FIG1.9 FLOWCHART

2.9 SOFTWARE USED

2.9.1VISION KEIL :
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Micro vision Keil provide id e for 8051 programming and is very easy to use.
When starting a new project simply select the microcontroller you from the device
data base and the micro vision IDE sets all compiler.
Assembler linker and memory option its device data base is large which
support many ICs of the 8051 family. A hex file can be created with the help of Keil
which is required for burning on to chief. It has a power bugging tool which detects
most of the error in the program.

WORKING WITH VISION KEIL

FIG2.0 WINDOW OF VISION KEIL

2.9.2 ZUKEN CADSTAR 11.0

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CADSTAR is a Windows based EDA software tool for designing and creating
schematic diagrams and printed circuit boards. It provides engineers with a tool for
designing simple or complex, multilayer PCBs. CADSTAR spans schematic capture,
variant management, placement, automatic and high-speed routing, signal integrity,
power integrity, EMC analysis, design rule checks and production of manufacturing
data. Originally developed by U.K. PCB vendor Racal-Redac, CADSTAR has been
part of the Zuken product portfolio since its acquisition in 1994.[1]
The first version of CADSTAR was released in 1988 running under DOS.
CADSTAR for Windows 1.0 was released in March 1994. Since then, there has been
about one major release per year. The latest version, as of Feb 2013, is CADSTAR
version 14.0.[2] The software is developed at Zuken's Technology Centre, ZTC in
Bristol, United Kingdom.
CADSTAR contains many modules for specific uses such as:
1.

Design Editor This enables the engineer to draw schematic circuits, define the
PCB layout and produce the manufacturing data from the completed PCB.

2.

Library Editor Used for the creation of Symbols, Component and Parts.
Supports ODBC compliant databases.

3.

Embedded Router Used to create the tracks (layout) and other copper
features of the board within the Design Editor environment.

4.

P.R.Editor Used to create the tracks and other copper features of the board in
an external environment to the Design Editor with many more features than the
Embedded Router.

5.

High-Speed P.R.Editor Allows the user to define a wide range of circuit rules
and routing constraints to control the layout process.

6.

Signal Integrity Verify Post-layout signal integrity simulation toolset and

what-if analysis.

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7.

Power Integrity Fast analysis methodology including what-if analysis for

concurrent power integrity.

8.

EMC Adviser Helps designers predict, analyse and control EMC design
issues.

9.

Design Migration Tool Used to migrate designs and libraries from other
EDA-tools into CADSTAR.

10.

Variant Manager Allows support of variant assemblies for different part

values or not fitted components on the same PCB

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FIG2.1 WINDOW OF CADSTAR11.0

2.9.3 FLASH MAGIC :

ROLE IN DESIGN
Flash magic is a pc tool for programming flash based microcontroller 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 has selected through it for programming the microcontroller.

FIG2.2 WINDOW OF FLASH MAGIC

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CHAPTER 3: DATASHEETS
3.189S51
1. 4K Bytes of In-System Programmable (ISP) Flash Memory
i. Endurance: 1000 Write/Erase Cycles
2. 4.0V to 5.5V Operating Range
3. Fully Static Operation: 0 Hz to 33 MHz
4. Three-level Program Memory Lock
5. 128 x 8-bit Internal RAM
6. 32 Programmable I/O Lines
7. Two 16-bit Timer/Counters
8. Six Interrupt Sources
9. Full Duplex UART Serial Channel
10. Low-power Idle and Power-down Modes
11. Interrupt Recovery from Power-down Mode
12. Fast Programming Time

FIG2.3 PIN DIAGRAM OF 89S51

3.1.2 PIN DESCRIPTION
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1. VCC:- Supply voltage.

2. GND:- Ground.
3. PORT 1:- Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The
Port 1 output buffers can
sink/source four TTL inputs. When 1s are written to Port 1 pins, they are pulled
high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that
are externally being pulled low will source current (IIL) because of the internal
pull-ups. Port 1 also receives the low-order address bytes during Flash
programming and verification
1. PORT 2:- Port 2 is an 8-bit bidirectional I/O port with internal pull-ups. The Port
2 output buffers cansink/source four TTL inputs. When 1s are written to Port 2
pins, they are pulled high by theinternal pull-ups and can be used as inputs. As
inputs, Port 2 pins that are externally beingpulled low will source current (IIL)
because of the internal pull-ups.Port 2.
2. RST:- Reset input. A high on this pin for two machine cycles while the oscillator
is running resets the
device. This pin drives High for 98 oscillator periods after the Watchdog times
out. The DISRTO
bit in SFR AUXR (address 8EH) can be used to disable this feature. In the default
state
of bit DISRTO, the RESET HIGH out feature is enabled.
3. PSEN:- Program Store Enable (PSEN) is the read strobe to external program
memory. When the AT89S51 is executing code from external program memory.
4. EA/VPP:- External Access Enable. EA must be strapped to GND in order to
enable the device to fetch code from external program memory locations starting
at 0000H up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will
be internally latched on reset.
EA should be strapped to VCC for internal program executions.
5. XTAL1:- Input to the inverting oscillator amplifier and input to the internal clock
operating circuit.
6. XTAL2:- Output from the inverting oscillator amplifier.

3.2 CS9370
3.2.1 GENERAL DESCRIPTION
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The CS9370 is a complete DTMF receiver integrating both the bandsplit filter
and digital decoder functions. The filter section uses switched capacitor techniques for
high-and low-group filters and dial-tone rejection. Digital counting techniques are
employed in the decoder to detect and decode all 16 DTMF tone-pairs into 4-bit code.
External component count is minimized by on-chip provision of a differential input
amplifier, clock-oscillator and latched 3-state bus interface.
3.2.2 FEATURES
1.
2.
3.
4.
5.
6.
7.

CMOS, 5/3 Volt operation.

Excellent performance with minimum board quality.
Central office quality.
Low power consumption.
Power-Down mode
Inhibit-mode
Package: DIP18, SOP18

FI
G2.4 PIN DIAGRAM OF CS9370
3.2.3 DC ELECTRICAL CHARACTERISTICS
1. SUPPLY:
VDD Operating supply voltage 2.5 5.5 V
ICC Operating supply current 3.0 7 mA
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PO Power consumption F=3.579MHzVDD=5V 15 35 mW

IS Standby current VPWDN=VDD 100 A
2. INPUTS:
VIL Low level input voltage 1.5 V
VIH High level input voltage 3.5 V
IIH/IIL Input leakage current VIN=VSS or VDD 0.1 A
ISO Pull up (source) current TOEPin 10=0V 7.5 15 A
RIN
Input Signal Impedance (Inputs 1,
2) @1kHz 10 M
VTST Steering threshold voltage 2.35 V
3. OUTPUT:
VOL Low level output voltage No load 0.03 V
VOH High level output voltage No load 4.97 V
IOL Output low (sink) current VOUT =0.4V 1.0 2.5 mA
IOH Output High (source) current VOUT =4.6V 0.4 0.8 mA
VREF Output voltage No load 2.4 2.7 V
ROR Output resistance 10 K

3.3 L293DNE
3.3.1 FEATURES
1. Featuring Unitrode L293 and L293D
2. Products Now From Texas Instruments
3. Wide Supply-Voltage Range: 4.5 V to 36 V
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4. Separate Input-Logic Supply

5. Internal ESD Protection
6. Thermal Shutdown
7. High-Noise-Immunity Inputs
8. Functional Replacements for SGS L293 and SGS L293D
9. Output Current 1 A Per Channel (600 mA for L293D)
10. Peak Output Current 2 A Per Channel (1.2 A for L293D)
11. Output Clamp Diodes for Inductive Transient Suppression (L293D)

FIG2.5 PIN DIAGRAM OF L293DNE

CHAPTER 4 : APPLICATIONS
4.1 APPLICATION
1. Scientific Use
Remote control vehicles have various scientific uses including hazardous
environments. 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
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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 andOpportunity have
provided continuous data about the surface of Mars since January 3, 2004.
2. Military and Law Enforcement Use
Military usage of remotely controlled military vehicles dates back the first half
of 20th century. Soviet Red Army used remotely controlled Tele tanks during 1930s in
the Winter War and early stage of World War II. There were also 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. Exposure to hazards is 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.
3.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.
4. Forest Conservation
In the recent times, there has been a serious endangerment to the wildlife
population. A lot of animals are on the verge of becoming extinct, including the tiger.
The spy robotic car can aid us in this purpose. Since it is a live streaming device and
also mobile, it can keep the forest guards constantly updated about the status of
different areas which are prone to attack. As a result, it can help to prevent further
destruction of the forest resources by enabling correct prohibitory action at the
appropriate time.

4.2 FUTURE SCOPE

1.IR Sensors

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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 and increases security to a great extent.
3.Alarm Phone Dialer
By replacing DTMF Decoder IC CS9370 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.

4.3 CONCLUSION
By developing a cell phone operated robotic car, we have over come the
drawbacks of the conventionally used RF circuits. This RCV includes advantages
such as robust control, minimal interference and a large working range. The car
requires four commands for motion control. The remaining twelve controls are
available to serve purposes dependant on the area of application of the RCV.
Conventionally, wireless-controlled robots use RF circuits, which have the
drawbacks of limited working range, limited frequency range and limited control. Use
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of a mobile phone for robotic control can overcome these limitations. It provides the
advantages of robust control, working range as large as the coverage area of the
service provider, no interference with other controllers and up to twelve controls.
More generally, it is a machine that functions in place of a living agent. Robots
are especially desirable for certain work functions because, unlike humans, they never
get tired; they can endure physical conditions that are uncomfortable or even
dangerous; they can operate in airless conditions; they do not get bored by repetition.
In future we can construct an autonomous MobileRoboticArm that would exhibit
sophisticated machine intelligence behaviors.

REFERENCES :
1.
2.
3.
4.

Wikipedia-The free encyclopedia.

http://www.8051projects.info/
http://www.instructables.com/
Schenkar, L (1960),Pushbutton Calling with a Two-Group Voice Frequency

Code, The Bell System technical journals39 (1): 255-255, ISSN005-8580.

5. Overview of datasheet of AT 80S51, MT 8870, L293D.
6. Study of DTMF signals from Digital Signal Processing by N. G. Palan
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7. http://www.projectsof8051.com/
8. http://vegakit.com

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