CHAPTER-1 INTRODUCTION

1. 1 INTRODUCTION TO ORGANISATION
509 Army Base Workshop is a specialist workshop responsible for base repairs of radar systems, electronic test equipments, optical and fire control instruments and night vision devices. This organization is headed by a commandant .509-ABWs was Established on 1st May, 1993.it is an ISO 9001:2000 certified. it located in agracantt area on Gwalior road. it has approx 2000 employees out of which 1200 are civilians the whole organization is divided in to three functional groups as follows-: 1. 2. 3. Works Production Administration.

This ABW work under the overall control of Director General Electronics and Mechanical Engineers (EME) who functions under the Master General of Ordnance (MGO).

1.2 DEPARTMENT OF 509-ABW

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GE GP RADAR GP TL GP IN GP M&R GP ARCC FCRC CES MCO

General Engineering Group Radar Equipment Telecommunication Group Instruments Group Manufacturing & Reclamation Army Repair & Calibration Cell Repair of Computers Complete Expandable Stores Material Control Organization

CHAPTER 2 VARIOUS DEVICES IN ABWs

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2.1 LASER RANGE FINDER

Rangefinders provide an exact distance to targets located beyond the distance of point blank shooting to snipers and artillery. They can also be used for military reconciliation and engineering. Handheld military rangefinders operate at ranges of 2 km up to 25 km and are combined with binoculars or monoculars. When the rangefinder is equipped with a digital magnetic compass (DMC) and inclinometer it is capable of providing magnetic azimuth, inclination, and height (length) of targets. Some rangefinders can also measure a target's speed in relation to the observer. Some rangefinders have cable or wireless interfaces to enable them to transfer their measurement(s) data to other equipment like fire control computers. Some models also offer the possibility to use addon night vision modules. Most handheld rangefinders use standard or rechargeable batteries. The more powerful models of rangefinders measure distance up to 25 km and are normally installed either on a tripod or directly on a vehicle or gun platform. In the latter case the rangefinder module is integrated with on-board thermal, night vision and daytime observation equipment. The most advanced military rangefinders can be integrated with computers. To make laser rangefinders and laser-guided weapons less useful against military targets, various military arms may have developed laser-absorbing paint for their vehicles. Regardless, some objects don't reflect laser light very well and using a laser rangefinder on them is difficult. Pulse:The pulse may be coded to reduce the chance that the rangefinder can be jammed. It is possible to use Doppler Effect techniques to judge whether the object is moving towards or away from the rangefinder, and if so how fast. Precision:The precision of the instrument is determined by the rise or fall time of the laser pulse and the speed of the receiver. One that uses very sharp laser pulses and has a very fast detector can range an object to within a few millimeters.

Range:Despite the beam being narrow, it will eventually spread over long distances due to the divergence of the laser beam, as well as due to scintillation and beam wander effects, caused by

the presence of air bubbles in the air acting as lenses ranging in size from microscopic to roughly half the height of the laser beams path above the earth. These atmospheric distortions coupled with the divergence of the laser itself and with transverse winds that serve to push the atmospheric heat bubbles laterally may combine to make it difficult to get an accurate reading of the distance of an object, say, beneath some trees or behind bushes, or even over long distances of more than 1 km in open and unobscured desert terrain. Some of the laser light might reflect off leaves or branches which are closer than the object, giving an early return and a reading which is too low. Alternatively, over distances longer than 1200 ft (365 m), the target, if in proximity to the earth, may simply vanish into a mirage, caused by temperature gradients in the air in proximity to the heated desert bending the laser light. All these effects have to be taken into account. Calculation:The distance between point A and B is given by

where c is the speed of light in the atmosphere and t is the amount of time for the round-trip between A and B.

where modulation.

is the delay which made by the light travelling and is the angular frequency of optical

Discrimination:Some instruments are able to determine multiple returns, as above. These instruments use waveform -resolving detectors, which means they detect the amount of light returned over a certain time, usually very short. The waveform from a laser pulse that hits a tree and then the ground would have two peaks. The first peak would be the distance to the tree, and the second would be the distance to the ground. The ability for aircraft-mounted instruments to see "through" dense canopies and other semireflective surface such as the ocean provide many applications for airborne instruments such as

Creating "bare earth" topographic maps - removing all trees. Creating vegetation thickness maps. Bathymetry (measuring topography under the ocean).
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Forest fire hazard. Over wash threat in barrier islands.

Technologies: Time of flight - this measures the time taken for a light pulse to travel to the target

and back. With the speed of light known, and an accurate measurement of the time taken, the distance can be calculated. Many pulses are fired sequentially and the average response is most commonly used. This technique requires very accurate sub-nanosecond timing circuitry. Military:Rangefinders provide an exact distance to targets located beyond the distance of pointblank shooting to snipers and artillery. They can also be used for military reconciliation and engineering. Handheld military rangefinders operate at ranges of 2 km up to 25 km and are combined with binoculars or monoculars. When the rangefinder is equipped with a digital magnetic compass (DMC) and inclinometer it is capable of providing magnetic azimuth, inclination, and height (length) of targets. Some rangefinders can also measure a target's speed in relation to the observer. Some rangefinders have cable or wireless interfaces to enable them to transfer their measurement(s) data to other equipment like fire control computers. Some models also offer the possibility to use addon night vision modules. Most handheld rangefinders use standard or rechargeable batteries. The more powerful models of rangefinders measure distance up to 25 km and are normally installed either on a tripod or directly on a vehicle or gun platform. In the latter case the rangefinder module is integrated with on-board thermal, night vision and daytime observation equipment. The most advanced military rangefinders can be integrated with computers. To make laser rangefinders and laser-guided weapons less useful against military targets, various military arms may have developed laser-absorbing paint for their vehicles. Regardless, some objects don't reflect laser light very well and using a laser rangefinder on them is difficult. Multiple frequency phase-shifts - this measures the phase shift of multiple Interferometry - the most accurate and most useful technique for measuring changes frequencies on reflection then solves some simultaneous equations to give a final measure. in distance rather than absolute distances.

Safety:Laser rangefinders for consumers are laser class 1 devices and therefore are considered eye safe. Some laser rangefinders for military use exceed the laser class 1 energy levels.

Laser Range Finder LH 30 is a light weight Laser Range Finder designed to measure the distance of target up to 20 Km range accurately and instantaneously, It can be conveniently used in Hand Held as well as Tripod mounted mode. Built-in magnification facility of 6X in the day sight along with Scaled graticule enables appropriate engagement of the target by user. The facility for Remote readout, Remote triggering and BITE readout is provided through RS 422A Serial interface. Modular design enables easy maintenance. The equipment is dust-proof, water-proof meets military Specifications.

FIG.1 laser range finder LH-30

Applications -:
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1. Fire Control for Mortar. 2. Reconnaissance on Observation Post of Vehicle . 3. Cloud Height Measurement.

2.2 SECURE TRACTICAL ARMY RADIO SYSTEM

Radio Set STARS V (25 W) is a Secure Tactical VHF Combat Net Radio. It operates in the frequency band of 30.000 to 87.975 MHz in 25 kHz channels spacing and provides 2320 channels. The radio set supports voice and data communication in a secure mode also. It is possible to remotely control the radio set by using Remote Control Unit (RCU). It incorporates features like preset SCAN, BITE, RF power control, Sulk mode, rebroadcast etc. STARS V (25 W) has the facility of having a password for self-authentication and entry to select call mode.

FIG-2 Secure tactical army radio system Stars V operates in the following modes:1. Clear voice with squelch. 2.Clearvoice without squelch. 3. Secure with squelch. 4. Data communication. 5. Automatic rebroadcast 6. Scan 7. Selective Call in voice mode.
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Features-: 1. 2. 3. 4. 5. 6. 7. 8. Fully automatic, single frequency simplex or two frequencies Simplex transmit 30 MHz to 87.975 MHz frequency with channel spacing of 25 kHz 2320 channels with 8 preset frequencies. Front panel programmable 5W/25W power output. Interoperability with AN PRC-25,VA MK-II, VB, VC and R 123 Full remote operation of all functions. Can operate from 24 VDC source. Selective Call in voice mode

/receive function

2.3 TACTICAL CONTROL RADAR

This is an early warning, alerting and cueing system, including weapon control functions. It is specially designed to be highly mobile and easily trasnsportable, by air as well as on the ground. This radar minimizes mutual interference of tasks of both air defenders and friendly air space users. This will result in an increased effectiveness of the combined combat operations. The command and control capabilities of the RADAR in combination with an effective ground based air Defence provide maximum operational effectiveness with a safe, efficient and flexible use of the airspace.

FIG-3 Tactical radar control system Features:1. 2. 3. 4. All weather day and night capability 40 km range, giving a large coverage Multiple target handling and engagement capability Local threat evaluation and engagement calculations assist the commander's decision

making process, and give effective local fire distribution

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5. 6. 7. 8. tracking.

Easy to operate, and hence low manning requirements and stress reduction under Highly mobile system, to be used in all kinds of terrain, with short into and out of Clutter suppression High resolution, which gives excellent target discrimination and allows accurate

severe conditions action times (deployment/redeployment)

2.4 ALL WEATHER LOW LEVEL AIR DEFENCE WEAPON CONTROL

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The AWLLADWCS (also known as the PIW 529) is a mobile, land-based, search and tracking radar system that meets the requirement for an anti-aircraft weapon control system. As such, it operates in both the I- and K-bands and provides all-weather point and area defence with anti-aircraft guns and surface-to-air missiles against medium- to very low-level air attack. Up to three weapons (three medium-calibre guns or two guns and a surface-to-air missile system, up to 1,000 m parallax distance) can be served and the complete system is mounted on a single trailer, with the necessary antennas being positioned on top of an operations cabin. Other system features include: air search and single sweep target acquisition in the I-band dual I- and Ka-band target tracking use of microminiaturised, solid-state electronics moving target indicator functionality in the I-band (plan position indicator display)automatic tracked target interrogation fast and accurate' lead angle computation gun assignment and 'open fire' initiation, a diesel-driven power supply, a 'METEO' mode that facilitates the generation of ballistic meteorological messages integral electronic countercountermeasures provision an electro-optic (including an integral day/night thermal imaging camera) tracking capability to assist in visual target identification, threat assessment and engagement monitoring computer-assisted parallax determination and ballistic data generation. The PIW 529 is a combination of Radar, Computer and display that deals with the threat of hostile ECM protected air missions at tree top level. It is a highly Mobile Land based Autonomous search cum track radar which meets the ever increasing threat from low flying high-speed aircrafts. It has all weather capability with timely detection, very accurate and unambiguous tracking, fast prediction of lead angles and built in counter measures.

FIG-4. All weather low level air defense weapon control system Functions-:
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1. 2. 3. 4. 5.
6. 7. 8. 9.

Air Search in I band and acquisition in I & Ka band Dual Band I and Ka - tracking Moving target indication in PPI for I search Automatic interrogation of the tracked target Fast and accurate lead angle computation of tracked target Gun assignment and firing initiation Track while scan upto 3 targets. "METEO" mode to generate a ballistic meteo message Presents the target being tracked on a TV monitor to help the operator in visual target

identification, threat assessment and engagement monitoring. 10. Communication between system operator and gun.

2.5 LORROS (Long Range Reconnaissance and Observation System)

Long-Range Reconnaissance and Observation System (LORROS) is a high quality, remotely controlled, observation system designed for medium and long range surveillance. LORROS features
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a high quality dual CCD day camera with powerful zoom lens, a 3rd generation 3-5 m thermal imager, long range LRF and other sensors according to users choice. All sensors are integrated on a highly accurate and robust MCS-50 pan & tilt pedestal that synchronizes the operation of all sensors, enabling the operator to perform complex tasks with relative ease. The system utilizes an open architecture design, which facilitates cost-effectiveness by enabling fast and simple placement and replacement of sensors either to adapt system performance to mission parameters or to replace malfunctioning sensors rather than replacing the entire system. The LORROS system is field proven, with hundreds of systems deployed worldwide in border / coastal surveillance, police, military and paramilitary applications. Border and coastal surveillance Critical infrastructure protection Intelligence gathering Reconnaissance of illegal smuggling and drug trafficking Artillery spotting & target acquisition Airport security and surveillance Laser guided ordnance designation (option) Optimized for Medium & Long-range Applications.

FIG 5. Lorros

Features-: 1. 2. Suitable for border, coastline, and critical site protection Long range, electro-optic, day/night sensing platform
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3. 4. 5. 6. 7. 8. 9.

Flexible choice of imaging sensors, enabling cost effective customization Net Centric interoperability or stand-alone operation Fully remote control and multi-channel video streaming Multiple thermal camera choice Multiple CCD camera choice Eye-safe laser range finder for accurate target ranging(option)

10. Pan & tilt pedestal, smooth high precision motion control 11. Ruggedized, IP-66, MIL-STD.

CHAPTER- 3 PROJECT
3.1 INTRODUCTION:14

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 controls. 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.

Fig 6. Block diagram of cellphone operated land rover

3.2 PROJECT OVERVIEW:-

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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 control corresponding to the button pressed is heard at the other end of the call. This tone is called dual tone multi frequency tome (DTMF) 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 pre-programmed 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. 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 algebric 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.

Table 1. tones and

assignments in a DTMF system 3.3 COMPONENT OF CIRCUIT List

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Semiconductors: IC1 - MT8870 DTMF decoder IC2 - ATmega16 AVR Microcontroller: IC3 - L293D motor driver IC4 - 74LS04 NOT gate D1 - 1N4007 rectifier diode Resistors (all -watt, 5% carbon): R1, R2 - 100-kilo-ohm R3 - 330-kilo-ohm R4-R8 - 10-kilo-ohm Capacitors: C1 - 0.47F ceramic disk C2, C3, C5, C6 - 22pF ceramic disk C4 - 0.1F ceramic disk Miscellaneous: XTAL1 - 3.57MHz crystal XTAL2 - 12MHz crystal S1 - Push-to-on switch M1, M2 - 6V, 50-rpm geared DC motor Battery - 6V, 4.5Ah battery

3.4 CONSTRUCTION OF CIRCUIT

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Fig 7. Circuit digram of microcontroller based cellphone operated land rover Figures show the block diagram and circuit diagram of the microcontroller- based robot. The important components of this robot are DTMF decoder, Microcontroller and motor driver. An MT8870 series DTMF decoder is used here. All types of the mt8870 series use digital counting techniques to detect and decode all the sixteen DTMF tone pairs in to a four bit code output. The built -in dial tone rejection circuit eliminated the need for pre- filtering. When the input signal given at pin2 (IN-) single ended input configuration is recognized to be effective, the correct four bit decode signal of the DTMF tone is transferred to Q1 (pin11) through Q4(pin14) outputs. The atmega 16 is a low power, 8 bit, CMOS microcontroller based on the AVR enhanced RISC architecture. It provides the following feature: 16kb of in system programmable flash memory with read write capabilities, 512bytes of EEPROM, 1KB SRAM, 32 general purpose input/output lines. 32 general purpose working registers. All the 32 registers are directly connected to the arithmetic logic unit, allowing two independent registers to be accessed in one signal instruction executed in
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one clock cycle. The resulting architecture is more code efficient. Outputs from port pins PD0 through PD3 and PD7 of the microcontroller are fed to inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293d respectively, to drive geared motors. Switch S1 is used for manual reset. the notations are : ic1 - mt8870 ic2 - atmega16 ic3 - l293d ic4 - cd7004 r1,r2 - 100k resistances r3 - 330k resistances r4-r8 - 10k resistances c1- 0.47 micro farat capacitor c2,c3,c5,c6 - 22pfarat capacitor c4 - 0.1micro farat capacitor xtal1 - 3.57 mhz crystal xtal2 - 12mhz crystal s1 - push to on switch m1,m2 - 6v 50rpm motor battery- 6v

3.5 WORKING OF CIRCUIT

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Fig 8. Mobile phone connection In order to control the robot, you need to make a call to the cell phone attached to the robot (through head phone) from any phone, which sends DTMF tunes on pressing the numeric buttons. The cell phone in the robot is kept in auto answer mode. (If the mobile does not have the auto answering facility, receive the call by OK key on the rover-connected mobile and then made it in hands-free mode.) So after a ring, the cellphone accepts the call. Now you may press any button on your mobile to perform actions as listed in Table III. The DTMF tones thus produced are received by the cellphone in the robot. These tones are fed to the circuit by the headset of the cell phone. The MT8870 decodes the received tone and sends the equivalent binary number to the microcontroller. According to the program in the microcontroller, the robot starts moving. When you press key 2 (binary equivalent 00000010) on your mobile phone, the microcontroller outputs 10001001 binary equivalent. Port pins PD0, PD3 and PD7 are high. The high output at PD7 of the microcontroller drives the motor driver (L293D). Port pins PD0 and PD3 drive motors M1 and M2 in forward direction. In order to control the robot, you have to make a call to the cell phone 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 the phone, just enable it). Now when you press 2 the robot will move forward when you press 4 the robot will move left
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when you press 8 the robot will move backwards when you press 6 the robot will move right when you press 5 the robot will stop.

3.6 PROJECT CONSTRUCTION

When constructing any robot, one major mechanical constraint is the number there a two-wheel drive or a four-wheel ive. Though four-wheel drive is more complex than two-wheel drive, it
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provides more torque and good control. Two-wheel drive, on the other hand, is very easy to construct. The chassis used in this model is a 1018cm2 sheet made up of parax. 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 as shown in the picture. 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 rover. For this robot, beads affixed with glue act as support wheels. PCB LAYOUT FOR CELLPHONE OPERATED LAND ROVER:

Fig 9. PCB layout.

3.7 APPICATION
Mobile Robots have numerous applications: unmanned exploration, land mine removal, energy plants and manufacturing factories. Robotics as a field has a long history since 1801 when Joseph
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Jacquard invented a textile machine, which operated by punch cards. Today over 100,000 robots are in use in the United States, compared with millions of computers and cell phones. Robotics, as an area, has undergone a significant change in the last two decades. Dramatic improvements in optimization, profound changes in costs and vast increases in applications have made it possible for us to consider a design of a personal robot. 1) 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. 2) 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. 3) 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. 4) 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).

3.8 FURTHER IMROVEMENTS & FUTURE SCOPE

1. 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.
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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 & increases security to a great extent. 3. 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. 4. 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.

CHAPTER 4 CONCLUSIONS
Military technology is the collection of equipment, vehicles, structures and communication systems that are designed for use in warfare. It comprises the kinds of technology that are distinctly

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military in nature and not civilian in application, usually because they are impractical in civilian application or dangerous to use without appropriate military training. It is common for military technology to have been researched and developed by scientists and engineers specifically for use by the armed forces. Many new technologies came as a result of the military funding of science. Weapons engineering is the design, development, testing and lifecycle management of military weapons and systems. It draws on the knowledge of several traditional engineering disciplines, including mechanical, electrical engineering, engineering, mechatronics, electro-optics, aerospace and chemical engineering. There is a significant number of military inventions that are technologies originally developed and designed for military purposes, and which are now used by civilians with sometimes minor or no modifications at all. engineering, materials

BIBLIOGRAPHY
Magazine:-

Electronics for you (July 2008)

Websites:25

www.google.com www.wikipedia.com en.wikipedia.org www.slideshare.net www.instructables.com

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