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MAY, 2015

ACKNOWLEDGEMENT

We are grateful to BITS Pilani for giving us this opportunity to get


an insight into how an organization works by offering this course
at the end of second year. This helped a lot in bridging the gap
between the normal academics taught in the class and the
industry practices.
We are thankful to SERVOMAX INDIA LTD., for making this course
well- structured and well organized. We feel privileged to have
opted this station. Even though we have very little knowledge
about the subjects being dealt with in various projects, Servomax
has given the chance to learn and experience the real time
project scenario
We are very grateful to the general manager of SERVOMAX INDIA
LTD., Mr. Raghukumar M, for sparing their valuable time to train us
and teach us how an organization works and also motivating us
for working in our interests and also giving us confidence about
our work.

We would like to thank Prof. A. Jagadeesh for guiding us through


out and for extending himself in a personal way, addressing all
the issues and concerns.

TABLE OF CONTENTS
1.
Introduction
2.
The Project
2.1 Project Description
2.2 List of Components
2.3 Theory
2.4 Formulae
2.5 Steps Taken
2.6 Prototype
2.6.1 Components
2.6.2 Modus Operandi
2.6.3 Code
3.
Appendix
4.
Bibliography

INTRODUCTION:

SERVOMAX INDIA LIMITED, HYDERABAD, INDIA is

the leading manufacturer of Transformers, Voltage stabilizers, energy


saving equipment and Isolation transformers in India for the past 32
years. The products are well appreciated world over and received much
recognition for their quality. Established in 1982 with a corporate
objective to provide efficient energy for greener future, SERVOMAX has
grown to be one of the countrys biggest manufacturers of power
saving and power conditioning equipments with the largest satisfied
customer base. Dedication to providing environment friendly quality
solutions and commitment to delight customers with unique value
propositions has helped Servomax to gain customer trust and thereby
commercial success. Servomax has stringent procedures to highest
quality products that offer value for money. With proven track record as
the most trusted partner and vendor, Servomax is committed to rolling
over innovative range of products.

Here at Servomax, we are working on a this project report which


basically is trying to reduce manual work in households, industries
and various other sectors where there is transfer of load in a
predefined path.
This report has an objective of designing and developing a
wheeled robot controlled wirelessly with the purpose of carrying a
maximum payload of 2 kgs from a starting point to any
destination, along predefined paths.
We had planned to reach out goal in 3 phases. In phase one we
were working on a miniature robot that was provided to us by the
company. We had to code it in a way so that it can travel on any
predefined path. Phase 2 dealt with the design and assembly of
the new robot so that it could carry a load of 2kgs accurately in
that path. Phase 3 is about the introduction of wireless
communication between the user & the robot using Wi-Fi or
Bluetooth.

The miniature robot provided to us is shown below.

THE PROJECT
Project Description: The project required us to design and develop a
wheeled robot controlled wirelessly with the purpose of carrying a maximum
payload of 2 kgs from a starting point to any destination, along predefined
paths.
List of Components:
1) MSP 430 (Texas Instruments) Microcontroller
2) DC motors (100 rpm, 12 V)
3) Motor driver (L298D)
4) IR proximity sensors
5) IR sensors
6) Voltage regulator (LM7805)
7) Magnetometer (HMC 5883L)
8) Plastic chassis (10x15)
9) 10 cm wheels (4 cm width)
10) Capacitors
11) Resistors
12) Wires
13) 12 V 2000 mAh Lead Acid Batteries
14) Battery Recharging Circuitry

Microcontroller
A microcontroller (sometimes abbreviated C, uC or MCU) is a
small computer on a single integrated circuit containing a processor core,
memory, and programmable input/output peripherals. Program memory in
the form of Ferroelectric RAM, NOR flash or OTP ROM is also often included
on chip, as well as a typically small amount of RAM. Microcontrollers are
designed for embedded applications, in contrast to the microprocessors used
in personal computers or other general purpose applications.

Motor Driver
A motor driver is a little current amplifier; the function of motor drivers is
to take a low-current control signal and then turn it into a higher-current
signal that can drive a motor.

DC Motors
An electric motor is a machine which converts electrical energy into
mechanical energy.It is based on the principle that when a current-carrying
conductor is placed in a magnetic field, it experiences a mechanical force
whose direction is given by Fleming's Left-hand rule

IR Proximity Sensors:

A proximity sensor is a sensor able to detect the presence of nearby


objects without any physical contact. A proximity sensor often emits
an electromagnetic field or a beam of electromagnetic radiation (infrared, for
instance), and looks for changes in the field or return signal. The object being
sensed is often referred to as the proximity sensor's target. Different
proximity sensor targets demand different sensors.

Magnetometer
Magnetometers are devices that measure magnetic fields. A magnetometer
is an instrument with a sensor that measures magnetic flux density B (in
units of Tesla or As/ m2). Magnetometers refer to sensors used for sensing
magnetic fields OR to systems which measure magnetic field using one or
more sensors.

Voltage Regulator
1

A voltage regulator is designed to automatically maintain a


constant voltage level. A voltage regulator may be a simple "feed-forward"
design or may include negative feedback control loops. It may use an
electromechanical mechanism, or electronic components.

Lead Acid Battery


An electric battery is a device consisting of two or more electrochemical
cells that convert stored chemical energy into electrical energy. Each cell
contains a positive terminal, or cathode, and a negative terminal,
or anode. Electrolytes allow ions to move between the electrodes and
terminals, which allows current to flow out of the battery to perform work.