1. Introduction to Arduino & Robotics Dr. Malik Moazzam Ph.D., M.Tech., B.Tech. malik.mzm@gmail.com malik.mzm@hotmail.com

2. Contents:  Introduction on Arduino 1.What is Micro-Controller? 2.What is Arduino? 3.Types of Arduino. 4.Arduino UNO board. 5.Sensors:. 6.What is “Function”? 7.Control statements [if, if… else, switch case.]. 8.Loop statements[while, for, do… while.]. 9.Common functions.

3. Introduction Design, organize, and collaborate

4. Famous microcontroller manufacturers are MicroChip, Atmel, Intel, Analog devices, and more. [list]list It is a micro-computer. As any computer it has internal CPU, RAM, IOs interface. It is used for control purposes, and for data analysis. Micro-Controller:

5. A r dui n o. What is Arduino? A microcontroller board, contains on-board power supply, USB port to communicate with PC, and an Atmel microcontroller chip. It simplify the process of creating any control system by providing the standard board that can be programmed and connected to the system without the need to any sophisticated PCB design and implementation. It is an open source hardware, any one can get the details of its design and modify it or make his own one himself.

6. Arduino boards: UNOMegaLilyPad Arduino BTArduino NanoArduino Mini

7. Arduino UNO: Digital output ~: PWM. 0,1: Serial port. In circuit Serial programming Atmel MicroController Analog input. Power Supply USB port Power input

8. Digital and analog. Digital or Analog? All physical quantities are analog. Analog means that the quantity can take any value between its minimum value and maximum value. Digital means that the quantity can take specific levels of values with specific offset between each other. Ex: 1- Digital: English alpha consists of 26 letter, there is no letter between A and B. - Square waves are Digital. Ex.: 2- Analog: Temperature, can take any value[-1,12.8,25.002,… etc.]. - Sine waves are analog.

9. Se n s o r s Sensors: A device that transforms the physical quantity into electrical value. Ex.: Light sensor transduce the light into change in voltage or resistance.

10. Se n s o r s Light sensors: -Photo-Resistor [photo-cell].Photo-Resistor -Photo-Diode.Photo-Diode -Photo-Transistor.

11. Se n s o r s Photo Resistor: -The value of the resistance depends on the incident light density. -1 K-Ohm at light, 10 K-Ohm at darkness. Photo Diode: -The current is controlled by the incident light density. Photo Transistor: -Base-emitter junction is controlled by the incident light density, has an amplification effect.

12. Arduino Coding. Stylize, edit, and animate your media

13. Data Types and operators Integer: used with integer variables with value between 2147483647 and -2147483647. Ex: int x=1200; Character: used with single character, represent value from - 127 to 128. Ex.char c=‘r’; Long: Long variables are extended size variables for number storage, and store 32 bits (4 bytes), from -2,147,483,648 to 2,147,483,647. Ex. long u=199203; Floating-point numbers can be as large as 3.4028235E+38 and as low as -3.4028235E+38. They are stored as 32 bits (4 bytes) of information. Ex. float num=1.291;[The same as double type] You may need to know about these typed: Array, Boolean, byte, etc. here.here.

14. Statement represents a command,it ends with ; Ex: int x; x=13; Operators are symbols that used to indicate a specific function: - Math operators: [+,-,*,/,%,^] -Logic operators: [==, !=, &&, ||] -Comparison operators: [==, >, =] Syntax: ;Semicolon, {}curly braces, //single line comment, /*Multi-line comments*/ Statement and operators:

15. Compound Operators: ++ (increment) -- (decrement) += (compound addition) -= (compound subtraction) *= (compound multiplication) /= (compound division) Statement and operators:

16. If Conditioning: if(condition) { statements-1; … Statement-N; } else if(condition2) { Statements; } Else{statements;} Control statements:

17. Switch case: switch (var) { case 1: //do something when var equals 1 break; case 2: //do something when var equals 2 break; default: // if nothing else matches, do the default // default is optional } Control statements:

18. Do… while: do { Statements; } // the statements are run at least once. while(condition); While: While(condition) {statements;} for for (int i=0; i <= val; i++){ statements; } Use break statement to stop the loop whenever needed. Loop statements:

19. Void setup(){} Used to indicate the initial values of system on starting. Void loop(){} Contains the statements that will run whenever the system is powered after setup. Code structure:

20. Led blinking example: Used functions: pinMode(); digitalRead(); digitalWrite(); delay(time_ms); other functions: analogRead(); analogWrite();//PWM. Input and output:

21. You can download the Arduino IDE (The program used to write code and uploading it to arduino boards) from: http://arduino.cc/en/Main/Software http://arduino.cc/en/Main/Software Arduino IDE:

22. Here you can learn how to program Arduino and what each code means and do, from here: http://arduino.cc/en/Reference/HomePage http://arduino.cc/en/Reference/HomePage Arduino Reference:

23. Robotics

24. DEFINATION 9 August 2017 Seminar on Robotics & Embeded system  Robotics is the branch of technology that deals with the design, construction, operation, and application of robots.  The word ROBOTICS is used to collectively define a field in engineering that covers the mimicking of various Human characteristics.  It is the application of electronics, mechanical, electrical and computer engineering.

25. Laws of Robotics  Isaac Asimov proposed three “Laws of Robotics” and later added the “ zero th law ”.  Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm.  Law 1 : A robot may not injure a human being or through inaction, allow a human being to come to harm, unless this would violate a higher order law.  Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law.  Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law.

26. Uses ofRobotics :  Agriculture  Automobile  Construction  Entertainment  Health care  Household purposes  Laboratories:  Law en forcement : spying, etc.  Manufacturing  Military: demining, surveillance, attack, etc.  Mining, excavation and exploration  Transportation: air, ground, rail, space, etc.  Utilities: gas, waterand electricity surveillance,air portSecurity,  Warehouses

27. Robotic Industry – Now A Days 1.Aurotek Corp.Aurotek Corp. 2.Axium Inc.Axium Inc. 3.Daihen Corp.Daihen Corp. 4.Denso Wave Inc.Denso Wave Inc. 5.Ellison Technologies Inc.Ellison Technologies Inc. 6.Kawasaki Robotics Inc.Kawasaki Robotics Inc. 7.Kuka AGKuka AG 8.Mitsubishi Electric Corp.Mitsubishi Electric Corp. 9.Nachi Fujikoshi Corp. 10.Pari RoboticsNachi Fujikoshi Corp. 10.Pari Robotics 11.Reis Robotics 12.Rockwell Automation Inc. 13.Schunk GmbH 14. Staubli International AG Staubli International AG 15. TM Robotics 16.Yamaha Robotics 17.Honda TM Robotics 16.Yamaha Robotics 18.IRobot World top Robotic Industry

28. Components of ROBOTS  PowerSupply  Sensors  Controller  Effectors  Actuators

29. POWER SUPPLY Suitable power supply is needed to run the motors and associated circuitry. Typical power requirement ranges from 3V to 24V DC. Power supply must be adjusted as per the ratings of the components. Power supply must be regulated using voltage regulator and current regulator ICs.

30. POWER SUPPLY Rechargeable 12V Battery LM 317 Current Regulator IC with Heat Sink LM7805 Voltage Regulator IC

31. EFFECTORS  Effectors are the parts of a Robot which execute the certain task.  Effectors pick up or modify objects or somehow cause an effect to the environment.  Examples: Mechanical grippers, Vacuum Grippers, Wheels, etc.

32. ACTUATORS  Actuator is the actual mechanism that enables the effectors to execute an action.  Actuators typically include electric motors, hydraulic or pneumatic cylinders, gears, etc. GearsGears Pneumatic Cylinder Pneumatic Motor

33. DC Motors As the name suggests, a motor which uses a DC (Direct Current) power Can run in both directions Speed Controllable

34. Stepper Motors Used for measured rotation Can be held at a particular position of the shaft Ideal for many autonomous robots requiring higher precision

35. Servo Motors : Used in closed loop control systems in which work is the control variable. An integral feedback device (resolver) or devices (encoder and tachometer) are either incorporated within the servo motor or are remotely mounted, often on the load itself

36. Physical PropertyTechnology Contact Distance Light Level Sound Level Strain Rotation Magnetism Smell Temperature Inclination Pressure Altitude Bump, Switch Ultrasound, Radar, Infra Red Photo Cells, Cameras, LDRs Microphones Strain Gauges Encoders Compasses Chemicals Thermistors, Infra Red Inclinometers, Gyroscope Pressure Gauges Altimeters SENSORS

37. CONTROLLER  Controllerprovides the necessary intelligence to control the action ofthe robot.  It receives the information from the sensorsand activates the actuators to perform the task.  It comprises complex electronics circuit.  Micro Controllers are used in Automatic Robots whereas different electronic switching components are used in Manual Robots.  The set of instructions is written in High Level Language, compiled and converted into Machine Code(HEX code) and burnt in the Micro Controllerwith the help of ComputerSoftware.

38. CONTROLLER