CONTENTS

Page no.
Acknowledgement

List of Figures

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List of Tables

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List of Abbreviations

Abstract

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CHAPTER - 1 INTRODUCTION

1.1 Introduction

CHAPTER - 2 BLOCK DIAGRAM

2.1 Vehicle Module
2.2 Control Module
CHAPTER - 3 BLOCK DIAGRAM EXPLANATION

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3.1 Overview

3.2 Vehicle Module

3.3 Control Module

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CHAPTER - 4 OVERVIEW OF TECHNOLOGIES

4.1 Introduction to Embedded Systems
4.1.1 Block diagram of Embedded Systems
4.1.2 Microprocessor
4.1.3 Microcontroller
4.1.4 Microcontroller versus Microprocessor
4.1.5 Microcontroller for Embedded Systems
4.1.6 Applications of Embedded Systems
4.1.7 Industrial functions o Embedded Systems
4.1.8 Electronics Applications and consumer devices
4.1.9 Military and Aerospace Software Applications
4.2 ZIG-BEE
4.3 Global Positioning System

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CHAPTER-5 HARDWARE COMPONENTS

5.1 ARM7 LPC2148
5.1.1 Introduction to LPC2148
5.1.2 Features
5.1.3 Architecture
5.1.4 Architectural Overview
5.1.5 Types of Memories
5.1.5.1 On-Chip Flash Program Memory
5.1.5.2 On-Chip Static RAM
5.1.6 Memory Map
5.1.7 Interrupt Controller
5.1.7.1 Fast Interrupt Request (FIQ)
5.1.7.2 Vectored Interrupt Request (IRQ)
5.1.7.3 Overview of Vectored Interrupt Request
5.1.7.4 Interrupt Sources
5.1.8 Pin Connect Block
5.1.9 Fast General Purpose Parallel I/O (GPIO)
5.1.10 10-bit ADC
5.1.11 10-bit DAC
5.1.12 USB 2.0 Device Controller
5.1.13 UARTs
5.1.14 I2C-Bus Serial I/O Controller
5.1.15 SPI (Serial Peripheral Interface) I/O Controller
5.1.16 SSP Serial I/O Controller
5.1.17 General Purpose Timers/External Event Counters
5.1.18 Watchdog Timer
5.1.19 Real-Time Clock
5.1.20 Pulse Width Modulator
5.1.21 System control
5.1.21.1 Crystal Oscillator
5.1.22 PLL (Phase Locked Loop)
5.1.23 Reset and Wake-Up Timer
5.1.24 Brownout Detector
5.1.25 Code Security
5.1.26 External Interrupt Inputs
5.1.27 Memory Mapping Control
5.1.28 Power Control
5.1.29 VPB Bus
5.2 Power Supply
5.3 Reset
5.4 Crystal Oscillator
5.5 Serial communication
5.5.1. RS232 cable
5.5.2. MAX 232
5.6 Zig-Bee
5.6.1 Introduction
5.6.2 Overview

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5.7 Global Positioning System

5.7.1. About GPS
5.7.2. What is GPS?
5.7.3 How Does GPS Technology Work?
5.7.4 Who Uses GPS?
5.8 L293D- Current Driver
5.8.1 Description
5.8.2 Electric Motors
5.8.3 Types of Motors
5.9 Wireless Webcam
5.10 Metal Detector
5.10.1 Product Effect and Phasing
5.10.2 Metal Free Area

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CHAPTER-6 PROJECT SCHEMATIC

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6.1 Interfacing Arm7 with GPS and Zig-Bee
6.2 Interfacing Arm7 with Webcam
CHAPTER-7 SOFTWARE TOOLS
7.1 Software Tools
7.2 Proteus
7.3 Micro flash
CHAPTER-8 RESULT ANALYSIS
8.1 Screenshot of Program Code for Control Room Operations
8.2 Screenshot of Microsoft Visual C++ program
8.3 Screenshot of Command Window at Control Room
8.4 Control Room Transmitter Module
8.5 Video Receiver Unit at Control Room
8.6 Front View of Robotic Vehicle Prototype
8.7 View of Internal Circuitry of the Prototype
CHAPTER-9 CONCLUSION
9.1 Conclusion
CHAPTER-10 FUTURE SCOPE
10.1 Future Scope
CHAPTER-11 REFERENCES

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List of Figures
Page no.
2.1. Vehicle module

2.2. Control module

4.1.1: Block diagram of Embedded System

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4.1.2: Block Diagram of Micro Processor (p)

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4.1.3: Block Diagram of Micro Controller (c)

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5.1.3: ARM7 Architecture

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5.2: Power supply Architecture

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5.3 Reset Internal Circuit

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5.4. Crystal Oscillator

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5.6.2 Zig-Bee high-level communication model

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5.7.2: GPS modem

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5.8 L293D- Current Drivers

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5.8.1. L293D Block diagram

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5.8.2(a) Left Hand Rule

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5.8.2(b) DC Motor

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5.8.3 (a) Single phase

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5.8.3 (b) Three phase

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5.9 Wireless Webcam

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5.10. Equally spaced on either side of the transmitter coil and a receiver coil

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5.10(a) Metal Free Area

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6.1(a) Schematic view of ARM7 interfacing with ZIG-BEE and GPS

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6.1(b) Power Supply

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6.2 Interfacing ARM7 with webcam

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7.1(a) Keil u Vision Icon

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7.1(b) New Project in Keil

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7.1 (c) Saving the project in Keil

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7.1 (d) Drop down from LPC 2148

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7.1 (e) Selecting the LPC 2148

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7.1 (f) Window open to click OK

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7.1 (g) Selecting Target

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7.1 (h) Selecting New Project

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7.1 (i) Editing window

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7.1 (j) Saving the Program with extension

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7.1 (k) Adding Files to Group Source

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7.1 (l) Extensions available by drops down

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7.1 (m) Compile the program

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7.1(n) Error controlling window

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7.1 (o) Selecting peripheral

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7.1 (p) Selecting ports for program file

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iii

List of Tables
5.1.6: Memory map
5.8.3 Basic idea of the true horse power rating compared to the ampere rating
5.10. Comparison between wet and dry products

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iv

List of Abbreviations
SYMBOL
ACC
B
PSW

NAME
Accumulator
B register
Program status word

SP
DPTR
DPL
DPH
P0
P1
P2
P3
IP
IE
TMOD
TCON
T2CON
T2MOD
TH0
TL0
TH1
TL1
TH2
TL2
SCON
SBUF
PCON

Stack pointer
Data pointer 2 bytes
Low byte
High byte
Port0
Port1
Port2
Port3
Interrupt priority control
Interrupt enable control
Timer/counter mode control
Timer/counter control
Timer/counter 2 control
Timer/counter mode2 control
Timer/counter 0high byte
Timer/counter 0 low byte
Timer/counter 1 high byte
Timer/counter 1 low byte
Timer/counter 2 high byte
Timer/counter 2 low byte
Serial control
Serial data buffer
Power control

ABSTRACT
The pattern of this paper province comprises of a self-navigating robotic ground vehicle as a
base on which guided by the computer in the control room as a surveillance system and the
remote triggered for a weapon is fitted in the ground vehicle. The ARM7 Controller acts as a
crucial scheming element for the ritual built vehicle. The ARM architecture describes a family of
RISC-based COMPUTER PROCESSOR. The reduced complexity and simpler design build a

low-energy system on chip for an embedded system incorporating memory, interfaces, radios,
etc. The ground vehicle contains single board embedded system that is equipped with GPS and
ZIG-BEE modems along with ARM processor, which in turns the GPS receiver has been
interfaced with the vehicle which is capable of receiving information from the GPS satellites and
this technology allows the system in finding out the location of the vehicle in terms of Latitude
and longitude coordinates, anywhere on earth and provides most up to date information about
ongoing trips. The control room can transmit the targeted location by ZIG-BEE technology to the
ground vehicle in terms of Latitude and longitude data. Once the vehicle receives this data, the
microcontroller unit compares the targeted location with the present location and separately
moves to the desired location. The movement of vehicle is detected by the Passive IR sensor.
Additionally the camera is mounted on the robotic ground vehicle, which is in a scanning pattern
to capture all the visible details around the vehicle. The video is transmitted to a control room
through ZIG-BEE module, if the presence on enemy is detected the mounted weapon on the
vehicle is triggered based on the commands from the control room. The main purpose of this
project is to provide following features a) Location information b) Real time tracking c)
Communication is instantaneous therefore we can receive running report d) Completely
integrated controlled and monitored by control room
Keywords ARM7, GPS Receiver, PIR Sensor, Wireless Camera, Surveillance, ZIG-BEE,
LASER GUN.

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