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The main objective of this project is to build a working prototype of a remote-controlled car (a.k.a. Mobile AI) and its ability to be controlled by the MATLAB Graphical User Interface (GUI). The independent subsystems for controlling AI Mobile via Microsoft Visual Basic include the serial communication interface, switching circuit, microcontroller, RF transmitter and receiver, and Visual Basic programming. While the secondary objective is to design, build and test Mobile AI that will use and demonstrate the use of artificial intelligence for various tasks.

This AI Mobile consists of three main parts: Host computer (GUI software - MATLAB/Visual Basic), Wireless communication (interface circuit) and AI Mobile. The construction of the AI Mobile involves the design and integration of several major systems.

Scope ofStudy

34; The robot consists of several subsystems, namely: a sensor system that is able to obtain information about the state of the mechanism and the environment, a controller and drivers that guide the mechanism and sensors in the desired way, and a planning and control system that decides on actions and perceptions in the environment. The intelligence of the robot is in the complex and long-term use of the algorithm in the microcontroller. Some of them are microcontrollers, which are widely used because of their cheapness and act as the brain of a robot.

According to Gebhard, programming in a high-level language has the advantage of simplifying debugging and changing or adapting the code compared to assembly language [9]. The Free-Run Timer is an 8-bit register inside the microcontroller that operates independently of the program, and the CPU acts as a connecting element between them.

Applications

PIC16F84A belongs to a class of 8-bit microcontrollers with Reduced Instruction Set Computer (RISC) architecture and it is based on the board representing basic blocks;. To convert a TTL logic, e.g. TxD and RxD pins of uC chips, so you need a converter chip. When using a wireless remote control system, it is desirable to filter out unwanted signals and interference signals to prevent incorrect data from being received and interpreted.

A much simpler method to achieve this is to use an encoder IC (HT12E) on the transmitter and a decoder IC (HT12D) on the receiver side. The HT-12E encoder, shown in Figure 5, is a CMOS LSI for remote control system applications.

Infrared Sensor

With external audio and video inputs, it can be connected to a wireless camera and a wireless microphone. For the implementation of the project, it is divided into two to distribute the workload over the two semesters. The first semester will be literature review, research and construction of an interface circuit to interface the computer with the remote control.

The second semester will deal with mediated control systems such as sensors, wireless camera, microphone, integration of other devices to achieve the main goal, which is to create a mobile robot that works in real time with mediated control systems to increase robot autonomy. In addition to the hardware, the types of software compatible with the hardware used are also determined. This is where all the assembled components are tested and the binary values assigned to them are determined.

With the configuration shown in Figure 14, the operator has direct control over the mobile platform, meaning that the success of a task depends entirely on the operator's skills. In this project, the research will focus on the configuration above, where a computer is placed between the receiver and the mobile platform. The microprocessor mediates between the command sent by the transmitter and the signal sent to the mobile robot.

Using the configuration in Figure 15 allows computer mediation between the command signal and the output signal sent to the mobile robot platform. Reducing the load on the mobile platform is beneficial to save power, increase the speed of real-time sensing, and reduce weight, because fewer batteries will be needed to operate the mediated control systems. The first semester will be literature review, research and construction of an interface circuit to interface the computer with the remote control. The second semester will deal with mediated control systems such as sensors, wireless cameras, microphones, integration of other devices to achieve the main objective. which is the creation of a mobile robot that operates in real time with mediated control systems to increase robot autonomy.

Figure 10 Ultrasonic Sonar Sensor (Transmitter & Receiver) [15]

Software

The specific architecture of AI Mobile is similar to the block diagram shown in Figure 16, where the command signal is transmitted from the Nikko radio control to the receiver, which passes the signal to the steering servomotors and the DC Motor. A block diagram showing the planned incremental AI Mobile architecture is shown below in Figure 17. The Mobile AI architecture allows the command signals sent by an operator to be modified before steering and steering the vehicle based on various sensors.

It is necessary for the main electronic components of the remote controlled truck to be separate to allow me to put in a microcontroller. Another requirement for the mobile platform is to be able to mount brackets, sensors and camera to the vehicle. The capacity of the EEPROM and random access memory (RAM) must be large enough to run a control algorithm.

The interface circuit allows the transmission of signals from the card to the host computer and vice versa. BO - B3 of microprocessor #1 are connected to four transistors respectively to send signals to the remote control to direct the movements of the AI Mobile. B4 - B7 are connected to the HT-12E to send wireless signals to the AI Mobile to control the functions available on it.

The signals sent are in 4-bit binary form, with each bit representing each action to be performed on the AI Mobile microcontroller. The switching circuit shown in Figure 25 is for connecting devices such as lights, sensors, car motors, servo motors, and Walkie Talkies to microcontroller #2. IC is ON to reduce AI Mobile speed as desired.

Figure 16 Remote Controlled Car without Augmentation

Infrared Sensors

But if the surface is white, the IR beam will reflect the IR energy back into the surface of the photodiode resistor. To improve the detector's performance, it should not be used in locations where interference from electric fans, insects, and livestock is expected. In response to moving objects in front of the transducers, the relay activates immediately and the LED lights up for a few seconds.

The level of DC voltage is directly proportional to the speed of the moving object, meaning the voltage is zero when the object is not moving. A simple junction transistor consists of a crystal of one type of doped semiconductor sandwiched between two crystals of the opposite type. The voltage of the PIC applied to the base (B) is called the base bias voltage, Vbe. When VBe is positive, conduction electrons in the emitter (E) are attracted to the base.

Two stereo connectors were connected to the circuit (one for front-back and one for left-right). This can happen by triggering any of the BO - B3 pins (in microprocessor #1) or by adjusting the radio control joystick. In addition, two holes are carefully drilled on the remote control to accommodate two stereo jacks (shown in Figure 36).

This is a C program programmed into the PIC microcontroller to manually control the movements of the AI Mobile. One of the advantages of using C as an assembly language is that there is no need to program each memory allocation, whereas in assembly language each memory allocation needs to be defined. The microcontroller is very reliable in accepting inputs from the PC and giving outputs to the encoder.

One of the main factors in the difficulty throughout the project is building each of the available features and bringing them all together into one piece. The separate instruction and data buses of the Harvard architecture allow a 14-bit wide instruction word with a separate 8-bit data bus.

Figure 28 shows the schematic to use the infrared sensors. The operation of this circuitry is rather simple, when the photodiode detector does not receive any signal from the infrared emitter (in the black surface shown in Figure 29), the circuit will be t

PIC16F8X

The two-phase instruction pipeline allows all instructions to execute in a single cycle, except for program branches (which require two cycles). This architecture has the program and data accessed from separate memories, so the device has a program memory bus and a data memory bus. By separating program and data memory, instructions can be sized beyond the 8-bit wide data word.

PIC16CXX opcodes are 14-bftswide, enabling single-word instructions. The full 14-blt wide program memory bus fetches a 14-bit instruction in a single cycle. This symmetrical nature and the denial of 'special optimal situations' make programming with the PiC16CXX simple but effective. PIC16CXX devices contain an 8-bit ALU and a working register. The ALU is a general purpose arithmetic unit.

In two-operand instructions, typically one operand is the work register (W register) and the other operand is a file register or an immediate constant. Depending on the instruction executed, the ALU can affect the values of the Carry (C), DigitCarry (DC), and Zero (Z) bits in the STATUS register. The Can and DC bits act as a lend bit and a digit lend bit, respectively, in subtraction. A simplified block diagram of the PIC16F8X is shown in Figure 3-1, its corresponding pin description is.

4 4 l/P ST Main erase (reset) input/voltage input for programming. This pin is an active low device reset. It can also be selected as a clock input for the TMRO timer and counter. This buffer is a Schmitt trigger This buffer is a Schmitt trigger This buffer is a Schmitt trigger.

5V*Powered, Multichannel RS-232

Drivers/Receivers

5V'Powered, Multichannel RS-232

These units can be used for continuous wave ultrasound transmission or for pulsed sound applications. Applications Burglar alarm systems Proximity switches Liquid level meters Anti-collision equipment Moving object counters TV remote control systems. The following circuits show how the transducers can respond; Therefore, it is activated when a signal is received and can be used in remote control applications.

19AmA VbInputHighVollaqeld.na=lOOuA(High)Vcc-O.5VceVcc+0.5V V!Input1j>wVollagc[d3ta=OuA(I_oiv)--0.3V roAbsoluterrctjuencySISMhitnorfute15MIL. POKi-OutputI'.nver-SOuhmVcc=9V-I2V16-dUm Vet=5V-C.V-14-dllm l>RDataRuleExternalKncodins5124.8K200KbpS Motet;{CraseTemperature=25°C. 'Current key- chainTransmitter ilaliekSeniitondueiofInc.