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November 5, 2010 Page 1 “IRobot” EE241 Introductory Electronics Laboratory SYED MOHSIN BUKHARI (2013-10-0060) UMER IFTIKHAR BILAL SHAHID (2013-10-0097) (2013-10-0148) 1) SUMMARY:The project is basically a ROBOT that uses fundamental electronics and follows infrared radiations from its surroundings (an IR beacon or source will be placed manually at any specified position randomly where we would like our robot to follow) and hence it is programmed to move in a certain direction (along the direction of intensity variation) The practical application of the robot is vast, diverse and efficient to serve various human tasks. For example, if employed in daily practice it may be helpful where accidental fires may occur, such as in fire fighting equipments and may be coupled with alarms. The wonder of this robot is that it can go to a predefined position without disturbing human vision and allows, on a large scale, humans and robots to work under same environment without any interference to humans and at the same time making robots move without human intervention. Another practical use of the robot is in the detection of unwanted leaks of IR radiation. As the robot would detect changes in IR intensity, it will respond to abnormal intensity variation and can be handy for practical purposes in conjunction with some specific equipment (according to the purpose) to complement it. ****************************************************************************** 2) OBJECTIVES and REQUIREMENTS:i) Determining the general direction of movement of the robot towards the point from where the greater IR intensity is detected as opposed to weaker intensity from elsewhere. ii) Making the robot move in a straight line if the intensity from the beacon or source is falling at the sensors at such an angle that the robot must move perpendicular to the source and there is no need for the robot to turn into any other direction. iii) Switch off the robot when the distance is too near the source, i.e. when the robot reaches the position where it was supposed to be directed, it must then go stationary as the robot has successfully reached its required destination or is in close proximity. November 5, 2010 Page 2 ****************************************************************************** 3) DESIGN OVERVIEW:• Direction Determiner Battery Power IR sensor IR sensor Amplifier Amplifier Inverting Amplifier, Gain=-1 Summer Voltage Band Filter Motor 1. Battery Power: Switches on the circuit. 2. IR Sensors: If more radiation falls on the sensors a greater output signal is produced. 3. Amplifiers: Makes signals stronger. 4. Inverting amplifier: Inverts signal from one amplifier. 5. Summer: Adds two voltage inputs. 6. Voltage Band Filter: Gives a high output if input is above +X Volts and a low output if input is below –X Volts. 7. Motor: Changes the path of robot. November 5, 2010 • Page 3 Power Switch IR sensor Amplifier NOT Gate Robot Power 1. IR Sensor: If more radiation falls on the sensors a greater output signal is produced. 2. Amplifier: Makes signals stronger. 3. NOT Gate: If input voltage is too high then it gives a low output. If input voltage is below a certain level then output is high. 4. Robot Power: Robot is ON if input is high and robot switches OFF if input is low. ****************************************************************************** 4) PROJECT DELIVERABLES:i) The minimum deliverables are building and designing an electric circuit of a robot that chooses its general direction of motion, that is towards the point from where IR of greatest intensity is coming- it is detected by sensors that deliver a stable high or low voltage, which is amplified and the through a voltage comparator circuit, passed onto the next block which drives the robot, hence causing it to move. The robot is so programmed that it stops at a point where an optimum IR radiation is detected. ii) Provisions for debugging and enhancement to the design. iii) Final demo will be ready for demonstration of robot function and a justification of design parameters. November 5, 2010 Page 4 ****************************************************************************** OPTIONAL OR ELECTIVE DESIGN ENHANCEMENT:The robot would return back from its position if it’s too near the source, i.e, if the sensors detect certain intensity range, then the IRobot will rollback! ****************************************************************************** 5) PROJECT PLAN:i) Think of a circuit where we can get voltage outputs based on varying intensities of IR, i.e. transducing IR energy detected by sensors into electrical signals as voltage outputs. ii) A circuit block that amplifies these outputs as voltage signals and another block that compares them. iii) Test and design the circuit on LT-SPICE to proceed with the implementation. iv) Design, build and Test the circuit blocks, step-by-step, on breadboard. v) Think of a circuit which switches off the robot, based on the intensity of IR detected (optimum). vi) Test the circuits on P-SPICE for schematics and check for final version of circuit. vii) Combine the two circuit blocks. viii) Test and implement the complete circuit on a breadboard. ix) Test the robot with proper circuitry and a modeled mobile design structure that is robust yet simple and woks well in a real practical situation. x) Document the results, mark any inconsistencies or flaws and then testing and debugging to achieve desired results and making a ready, fully functional robot as required. ****************************************************************************** November 5, 2010 Page 5 A first step in implementation of the project: Testing a circuit block on a breadboard with op-amps to amplify and compare volatges and variable resistors to serve the purpose of sensors.