1. DUAL TONE MULTIPLE FREQUENCY CONTROLLED ROBOT

2. BY:
SHEETAL DADLANI
RONAK KHARA
SHANTANU KHARE
RINKU ROHIRA

3. PROJECT GUIDED BY:
MRS. ARCHANA SINGHI MAM
HEAD OF DEPARTMENT:
MRS. SUNITA SHARMA MAM

4. ABSTRACT
DTMF controlled robot is proposed that can move in any direction on a plain surface which can be controlled by using a GSM or CDMA mobile phone where the medium of communication is DTMF tones.
The robot can revolutionize the transport system of the robots and the way we operate it by a small embedded system device.
The robot is an Omni-directional robot which can be manoeuvred by a cell phone and can be used as a compact, quiet, mobile, and durable transport vehicle in cramped environments and in loading and unloading stations.
The main focus was laid on the type of movement the robot makes on the spot and its control using a cell phone.

5. INTRODUCTION
Conventionally, Wireless-controlled robots use RF circuits, which have the drawbacks of limited working range, limited frequency range and the limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides the advantage of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and up to twelve controllers.
Although the appearance and the capabilities of robots vary vastly, all robots share the feature of a mechanical, movable structure under some form of control. The Control of robot involves three distinct phases: perception, processing and action.
Generally, the preceptors are sensors mounted on the robot, processing is done by the on-board microcontroller or processor, and the task is performed using motors or with some other actuators.

6. BLOCK DIAGRAM CELL PHONE DTMF DECODER MICROCONTROLLER MOTOR DRIVER
RIGHT MOTOR
LEFT MOTOR

7. WORKING OF BLOCK DIAGRAM
In this project the robot, is controlled by a mobile phone that makes call to the mobile phone attached to the robot. In the course of the 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 DTMF tone. The robot receives this DTMF tone with the help of phone stacked in the robot.
The received tone is processed by the atmega16 microcontroller with the help of DTMF decoder MT8870. The decoder decodes the DTMF tone in to its equivalent binary digit and this binary number is send to the microcontroller. The microcontroller is preprogrammed to take a decision for any give 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 this simple robotic project does not require the construction of receiver and transmitter units.

8. DTMF signaling is used for telephone signaling over the line in the voice frequency band to the call switching center. The version of DTMF used for telephone dialing is known as ‘Touch –Tone’.
DTMF assigns a specific frequency (consisting of two separate tones) to each key s that it can easily be identified by the electronic circuit. The signal generated by the DTMF encoder is the direct al-gebraic submission, in real time of the amplitudes of two sine (cosine) 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

9. DTMF BASICS
DTMF is a tone composed of two sine waves of given frequencies. Individual frequencies are chosen so that it is quite easy to design frequency filters, and so that they can easily pass through telephone lines (where the maximum guaranteed bandwith extends from about 300 Hz to 3.5 kHz). DTMF was not intended for data transfer; it is designed for control signals only.
DTMF USAGE
DTMF is the basis for voice communications control. Modern telephony uses DTMF to dial numbers, configure telephone exchanges, and so on. It is used to transfer information between radio transceivers, in voice mail applications, etc.
HOW TO TRANSMIT DTMF
Most often, dedicated telephony circuits are used to generate DTMF. On the other hand, a microprocessor can do it, too. Just connect a RC filter to two output pins, and generate correct tones via software.

10. FREQUENCY TABLE
HOW TO DECODE DTMF:
It is not easy to detect and recognize DTMF with satisfactory precision. Often, dedicated integrated circuits are used, although a functional solution for DTMF transmission and receiving by a microprocessor .It is rather complicated, so it is used only marginally. Most often, a MT 8870 or compatible circuit would be used.
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 * # D
This table resembles a matrix keyboard. The X and Y coordinates of each code give the two frequencies that the code is composed of. There are 16 codes; however, common DTMF dialers use only 12 of them. The "A" through "D" are "system" codes. Most end users won't need any of those; they are used to configure phone exchanges or to perform other special functions

11. SERVO MOTORS
Specialized motors that can move their shaft to a specific position
DC motors can only move in one direction
“Servo”
capability to self-regulate its behavior, i.e., to measure its own position and compensate for external loads when responding to a control signal
Hobby radio control applications:
Radio-controlled cars: front wheel steering
RC airplanes: control the orientation of the wing flaps and rudders
Servo motors are built from DC motors by adding:
Gear reduction
Position sensor for the motor shaft
Electronics that tell the motor how much to turn and in what direction
Movement limitations
Shaft travel is restricted to 180 degrees
Sufficient for most applications

12. OPERATION OF SERVO MOTORS
The input to the servo motor is desired position of the output shaft.
This signal is compared with a feedback signal indicating the actual position of the shaft (as measured by position sensor).
An “error signal” is generated that directs the motor drive circuit to power the motor
The servo’s gear reduction drives the final output.

13. CONTROL OF SERVO MOTORS
Input is given as an electronic signal, as a series of pulses
length of the pulse is interpreted to signify control value: pulse-width modulation
Width of pulse must be accurate (s)
Otherwise the motor could jitter or go over its mechanical limits
The duration between pulses is not as important (ms variations)
When no pulse arrives the motor stops
Three sample waveforms for controlling a servo motor

14. DEGREES OF FREEDOM (DOF)
DOF: any direction in which motion can be made
The number of a robot’s DOFs influences its performance of a task
Most simple actuators (motors) control a single DOF
Left-right, up-down, in-out
Wheels for example have only one degree of freedom
Robotic arms have many more DOFs

15. USES OF EFFECTORS Locomotion Moving a robot around Manipulation
Moving objects around
Effectors for locomotion
Legs: walking/crawling/climbing/jumping/hopping
Wheels: rolling
Arms: swinging/crawling/climbing
Flippers: swimming
Most robots use wheels for locomotion

16. STABILITY Robots need to be stable to get their job done
Stability can be
Static: the robot can stand still without falling over
Dynamic: the body must actively balance or move to remain stable
Static stability is achieved through the mechanical design of the robot
Dynamic stability is achieved through control

17. STATICALLY STABLE WALKING
If the robot can walk while staying balanced at all times it is statically stable walking
There need to be enough legs to keep the robot stable
Three legged robots are not statically stable
Four legged robots can only lift one leg at a time
Slow walking pace, energy inefficient
Six legs are very popular (both in nature and in robotics) and allow for very stable walking

18. GETTING THERE Robot locomotion is necessary for
Getting the robot to a particular location
Having the robot follow a particular path
Path following is more difficult than getting to a destination
Some paths are impossible to follow
This is due to non-holonomicity
Some paths can be followed, but only with discontinuous velocity (stop, turn, go)
Parallel parking

19. TYPES OF JOINTS There are two main types of joints Rotary
Rotational movement around a fixed axis
Prismatic
Linear movement

20. ANOTHER BASICS INVOLVED
DC Motors
Motor Efficiency
Operating Voltage
Operating/Stall Current
Torque
Stall Torque
Power of a Motor
How Fast do Motors Turn?
Gearing
Meshing Gears
Gearing Effect on Speed
Torque – Speed Tradeoff

21. LIST OFCOMPONENTS SR. No Description 1 Transformer 12-0-12V,750mA 2
Diode 1N4007 3
Capacitor1000uF,25V 4
Voltage regulator IC 7805 5
Capacitor 1uF 6
LED 7
Resistors 8
Disc capacitors 9
IC Base 10
PCB 11
Wires 12
Solder wire 13
Cabinet 14
Mains cord 15
Transistor BC548

22. FUTURE SCOPE 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.
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.

23. 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.
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.

24. 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.
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.

25. Search and Rescue
UAVs will likely play an increased role in search and rescue in the United States. 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 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).

26. ADVANTAGES
DTMF’s technology is simple, low cost, as well as its already popular status in the telephone industry of today.
In the networks there are large number of nodes that are very simple and act merely as relay stations.
In healthcare (hospital and home environments), a robot that is capable of sending acoustic commands to turn on/off devices such as light switch or closing door while letting the user know that the process is taking place will be very helpful in allowing the user to feel more comfortable around robots.

27. CONCLUSION
This paper has described the design and implementation of experiments to test the feasibility of using the Dual Tone Multi-Frequency encoding scheme as a method for communicating simple messages.

29. ANY QUESTIONS??????