Pothole filler report

Autonomous Pothole filler Robot

CHAPTER 1

INTRODUCTION The project aims towards providing an economical and reliable solution for pothole filling process. The idea behind this project is to help the society with technology that will provide an easy solution to the real life problem of monotonous task of filling the potholes. This project builds a robot which autonomously does the whole job of detecting and filling the pothole at regular periods to ensure the safety of the passengers on the road. Using real time and embedded system we present a prototype of the design, later this can be fabricated into a real life model with ease.

1.1

General Introduction

The aim of this project is to provide solution to the real life problem of fixing the potholes on the road by using embedded and real time systems. The autonomous filler robot will detect the potholes on the road and start filling them automatically and does the real time scanning for the filled condition. Filling a pothole is a monotonous task, it should be done at a regular periods to maintain the roads. Instead of manual filling of a pothole, automatic filling by a robot saves lot of time and funds which were wasted on the labours who work for repairing these potholes. In this project, Firebird V robot from NEX robotics is used as a platform for developing the robot. The basic platform is further built to have a mechanical assembly and is coded in such a way that it performs the pothole filling action by itself (without the aid of the user). The robot is navigated by means of two 75RPM DC motors, it also has position encoder to move exactly to a particular distance. It is fixed with four sharp sensors mounted on arm assembly to detect the potholes on the road. The arm assembly is rotated with the aid of servo motor. To fill the pothole the dispenser mechanism is activated by the stepper motor. The design of the mechanical assemblies can be of various sizes depending on the needs of the robot. The prototype design is limited with capabilities but real life model can be fabricated with little modifications.

Dept. of TCE, JNNCE, Shimoga

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1.2

Problem Statement

In India, roadways are one of the major kinds of transport. Potholes on the roads pose a serious problem to the health and deeper potholes may even cause accident. Potholes should be regularly fixed by the laborers, finding a pothole and filling it manually is a monotonous task. Keeping these facts in mind, a robot is designed to eliminate the above problem.

1.3

Methodology

This project is applicable for fixing a pothole. This project is based on a microcontroller based autonomous robot which will automatically detect and fill the potholes which are present on the road. When all potholes are filled the robot indicates it with a buzzer sound.

1.4

Scope of the Project 

The project aims to fix the potholes by an autonomous embedded system.



Firebird V used as a platform for building the robot, further improvements can be made easily with this robot.



The project makes effective use of resource and saves lot of time.

1.5 Limitations 

Some parameters during design were limited to the prototype design. Real life model will be different.


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CHAPTER 2

THEORETICAL BACKGROUND This chapter discusses about the basic functioning of the units that are employed in this project and the theoretical background associated with them. Various components required to develop this system are discussed here.

2.1 Basic Block diagram

Figure 2.1 Block diagram of the autonomous pothole filler robot


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1. Arm Mechanism: Robot is fitted with an arm mechanism which consists of four arms, all these arms are dependent arms and they are rotated by the servo motor. These arms help in scanning the entire road for potholes. 2. Distance sensors: These are the sensors which detects the distance from the sensors to the object, these sensors are placed facing the ground so that they detect the difference in between the ground and the pothole. 3. White Line sensors: These are the sensors which detects the white line on the road , this white line guides the robot to traverse along the arena. 4. Filler Mechanism: Filler Mechanism consists of the dispenser mechanism , the dispenser is switched with the help of stepper motor which rotates a circular plate which is below a source of the filler. 5. Robotic Vehicle : Firebird V is used as a robotic vehicle the block diagram of the Firebird V is illustrated below


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Figure 2.2 Block diagram of FIRE BIRD V (Robotic Vehicle)


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2.2 Hardware Requirements  Fire Bird V Robot kit. 

Atmega2560 microcontroller



Ni-MH battery pack, charger



Geared DC motor ( 75 RPM )



White line sensors



Sharp distance sensors



Motor drivers L293D



LCD (16*2)

 External Motors 

Servo Motor



Stepper Motor

 USB ISP Programmer  Sun wood

2.3 Software requirements  USB ISP Programmer’s GUI  USB to Serial Drivers  AVR Studio


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2.4 ATMEGA 2560 Microcontroller 2.4.1 Pin description:


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Autonomous Pothole filler Robot 2.4.2 Features of the ATMEGA 2560 Microcontroller Advanced RISC Architecture, 8 bit microcontroller – 135 Powerful Instructions – Most Single Clock Cycle Execution – 32 x 8 General Purpose Working Registers – Fully Static Operation – Up to 16 MIPS Throughput at 16 MHz – On-Chip 2-cycle Multiplier 256K Bytes of In-System Self-Programmable Flash – 4K Bytes EEPROM – 8K Bytes Internal SRAM Peripheral Features – Two 8-bit Timer/Counters with Separate Pre-scalar and Compare Mode – Four 16-bit Timer/Counter with Separate Pre-scalar, Compare- and Capture Mode – Real Time Counter with Separate Oscillator – Four 8-bit PWM Channels – Twelve PWM Channels with Programmable Resolution from 2 to 16 Bits – Output Compare Modulator – 16-channel, 10-bit ADC – Four Programmable Serial USART – Master SPI Serial Interface – Byte oriented 2-wire Serial Interface – Programmable Watchdog Timer with Separate On-chip Oscillator – On-chip Analog Comparator – Interrupt and Wake-up on Pin Change I/O and Packages – 86 Programmable I/O Lines


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2.5 Power supply unit: Fire Bird V consisting of 9.6v, 2.1Ah Nickel Metal Hydride battery which can be used to power robot for around 2 hours, in order to continue use for longer duration without worrying about the battery getting low, robot can be powered by external power source which is nothing but auxiliary power source. Auxiliary supply provides regulated 12V, 1Amp supply. When robot is powered by battery, it can use maximum of 2Amp current while Auxiliary supply will provide only 1Amp current. Robot’s power is divided in two separate power rails. “V Mot Supply” provides power to all the noisy devices on the robot such as motors and other heavy loads. “V Batt Supply” powers most of the electronics on the robot. Most of the systems on the robot are powered by 3.3V and 5V via voltage regulators.

2.5.1 V Batt Supply “V Batt Supply” stands for stabilized supply coming from the battery. This supply line is used to power almost all the payload on the robot. When battery is almost discharged (about 30% power remaining) and onboard payload draws current in excess of 2 amperes, then the battery voltage can fall below 6.3V momentary. Voltage regulators will not be able to function properly below 6.3V and their output will fall below 5V. In this case the microcontroller can reset. To extend the usable battery life and to reduce the probability of microcontroller getting reset when battery is about to fully discharge, diodes D7 along with the capacitor C54 is used. When battery voltage suddenly drops, diode D7 prevents the reverse flow of the current and capacitor C54 maintains voltage within safe limits for about 100 milliseconds. For this duration capacitor C54 acts as small battery. Similar arrangement is done in the “V Mot Supply” using diodes D9 and capacitor C53. This scheme extends usable range of the fully charged battery.

2.5.2 V Mot Supply “V Mot Supply” stands for motor supply. It is used to power DC motors and other heavy loads which have lots of current fluctuations. It is the nosiest supply line on the robot. It should be used for heavy loads that require large amount of current. This supply can be varied between 8V to 11.3V depending on the battery's charging state and type of power source (battery / auxiliary power) used. This line can supply additional 500mA to the external load.


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Figure 2.3 Power supply unit of FIRE BIRD V (Robotic Vehicle)

2.6 Geared DC Motor For movement of robot we have used geared DC motors. Two 75 RPM DC geared motors actuate the robot. A DC motor is electromechanical device that converts electrical energy into mechanical energy that can be used to do many useful works. It can produce mechanical movement. DC motors comes in various ratings like 6V and 12V. It has two wires or pins. When connected with power supply the shaft rotates. It is possible reverse the direction of rotation by reversing the polarity of input.


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Figure 2.4 DC Geared Motors

2.7 White Line Sensors White line sensors are used for detecting white line on the ground surface. White lines are used to give robot sense of localization. White line sensor consists of a highly directional photo transistor for line sensing and bright red LED for the illumination. Due to the directional nature of the photo diode it does not get affected with ambient light unless it is very bright. White line sensors are used for detecting white line on the ground surface. White lines are used to give robot sense of localization. White line sensor consists of a highly directional photo transistor for line sensing and bright red LED for the illumination. Due to the directional nature of the photo diode it does not get affected with ambient light unless it is very bright.


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Figure 2.5 White line sensor assembly. When the robot is not on a white line, amount of light reflected is less, hence less leakage current flows through the photo transistor. In this case, the line sensor gives an output in the range of 2V to 3.3V. When the sensor is on a white line, more light gets reflected resulting in considerable increase in the leakage current which causes voltage across the sensor to fall between 2 to 0.1V. Power to the red LEDs of white line sensor is controlled PG5 of ATMEGA2560 microcontroller to extend robot’s battery life.

2.7.1 Why red LEDs are used instead of IR LEDs ? Photo transistors are many times sensitive to IR than to visible light but we still use red light illumination because of following reasons: 

Red light is nearer to the infrared



Since we can see red light it’s easier to calibrate it using eyes



Any colour appears black because it does not reflect visible light.

Which means black surface can be ultraviolet or infrared in colour. If black is infrared colour then robot's white line sensors will not be able to distinguish between white and black as black will reflect all infrared waves as effectively as white surface. In case of red illumination which


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Autonomous Pothole filler Robot has very less infrared radiation even infrared black is still considered as black which makes red light as colour of choice.

2.8 IR Proximity Sensors: Infrared proximity sensors are used to detect proximity of any obstacles in the short range. IR proximity sensors have about 10cm sensing range. These sensors sense the presence of the obstacles in the blind spot region of the Sharp IR range sensors. Fire Bird V robot has 8 IR proximity sensors. Figure 3.36 shows the location of the 8 IR proximity sensors. Sensors are numbered as 1 to 8 from left to right in clockwise direction. In the absence of the obstacle there is no reflected light hence no leakage current will flow through the photo diode and output voltage of the photo diode will be around 3.3V.

Figure 2.6 IR Proximity Sensors


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2.9 Sharp IR Range Sensor

(GP2Y0A02YK)

Features of GP2Y0A02YK: 

Less influence on colour of reflective objects, reflectivity.



Detecting distance 10 to 80cm.



Judgment distance.



External control circuit is not needed.



Low cost

This is used to detect the potholes present is the arena. Sharp sensor consists of IR LED and CCD array boxed with precision lens mounted. These sensors have blind spot of particular range within which gives wrong reading. These sensors are attached to arm hence detects potholes. 

Blind spot: 0-10cm



Range: 10-80cm These sensors are attached to the arm hence they the detect the potholes

Figure 2.7 SHARP IR Range Sensors


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2.10 Position Encoders Position encoders give position / velocity feedback to the robot. It is used in closed loop to control robot’s position and velocity. Position encoder consists of slotted disc which rotates between optical encoder (optical transmitter and receiver). When slotted disc moves in between the optical encoder we get square wave signal whose pulse count indicates position and time period / frequency indicates velocity. Optical encoder MOC7811 is used as position encoder on the robot. It consists of IR LED and the photo transistor mounted in front of each other separated by a slot and encased in black opaque casing and facing each other through narrow window. When IR light falls on the photo transistor it gets in to saturation and gives logic 0 as the output. In absence of the IR light it gives logic 1 as output. A slotted encoder disc is mounted on the wheel is placed in between the slot of MOC7811. When encoder disc rotates it cuts IR illumination alternately because of which photo transistor gives square pulse train as output. Output from the position encoder is cleaned using Schmitt trigger based inverter (not gate) IC CD40106.

Figure 2.8 Position Encoders

2.11 Liquid Crystal Display (LCD) LCD used here has HD44780 dot matrix LCD controller. It is also called 16x2 Alpha Numeric LCD2. It can be configured to drive a dot-matrix liquid crystal display underthe control of ATMEGA 2560.


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Figure 2.9 Liquid Crystal Display

2.11.1 Operation modes of LCD: To reduce number of I/Os required, Fire Bird V robot uses 4 bit interfacing mode which requires 3 control lines and 4 data lines. In this mode upper and lower nibble of the data/command byte needs to be sent separately. shows LCD interfacing in 4 bit mode with three control lines EN (Enable), RS (Register Select), and RW (Read / Write). The EN line is connected to PC2. This control line is used to tell the LCD that microcontroller has sent data to it or microcontroller is ready to receive data from LCD. This is indicated by a high-to-low transition on this line. To send data to the LCD, program should make sure that this line is low (0) and then set the other two control lines as required and put data on the data bus. When this is done, make EN high (1) and wait for the minimum amount of time as specified by the LCD datasheet, and end by bringing it to low (0) again. The RS line is connected to PC0. When RS is low (0), data is treated as a command or special instruction by the LCD (such as clear screen, position cursor, etc.). When RS is high (1), data being sent is treated as text data which should be displayed on the screen. The RW line is connected to PC1. When RW is low (0), the information on the data bus is being written to the LCD. When RW is high (1), the program is effectively querying (or reading from) the LCD. The data bus is bidirectional, 4 bit wide and is connected to PC4 to PC7 of the microcontroller. The MSB bit (DB7) of data bus is also used as a Busy flag. When the Busy flag is 1, the LCD is in internal operation mode, and the next instruction will not be accepted. When RS = 0 and R/W = 1, the Busy flag is output on DB7. The next instruction must be written after ensuring that the busy flag is 0. Refer LCD datasheet provided in documentation CD for using Busy flag.


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Figure 2.10 LCD Timing Diagram LCD is interfaced to the pins 22 to 28 of the main board socket. LCD uses 5V System supply for its operation. For LCD backlight V Battery supply is used. Figure 8.45 shows LCD backlight jumper and LCD contrast control potentiometer. In order to save power LCD backlight can be turned off by removing LCD backlight jumper. LCD’s contrast can be adjusted by LCD contrast control potentiometer.

Figure 2.11 LCD Contrast Control

2.12 Buzzer Robot has 3 KHz piezo buzzer. It can be used for debugging purpose or as attention seeker for a particular event. The buzzer is connected to PC3 pin of the microcontroller. Also the same buzzer is used in battery monitoring circuit to alert the battery low indication.


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Figure 2.12 Buzzer

Buzzer is driven by BC548 transistor. Resistor 100K is used to keep transistor off, if the input pin is floating. Buzzer will get turned on if input voltage is greater than 0.65V.

2.13 Servo Motor A servomotor is a rotary actuator that allows for precise control of angular position. It consists of a motor coupled to a sensor for position feedback, through a reduction gearbox. It also requires a relatively sophisticated controller, often a dedicated module designed specifically for use with servomotors. Servomotors are used in applications such as robotics.

Figure 2.13 Servo Motor


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Autonomous Pothole filler Robot 2.13.1 Mechanism of Servo Motor As the name suggests, a servomotor is a servomechanism. More specifically, it is a closed-loop servomechanism that uses position feedback to control its motion and final position. The input to its control is some signal, either analogue or digital, representing the position commanded for the output shaft. The motor is paired with some type of encoder to provide position and speed feedback. In the simplest case, only the position is measured. The measured position of the output is compared to the command position, the external input to the controller. If the output position differs from that required, an error signal is generated which then causes the motor to rotate in either direction, as needed to bring the output shaft to the appropriate position. As the positions approach, the error signal reduces to zero and the motor stops. The very simplest servomotors use position-only sensing via a potentiometer. The motor always rotates at full speed (or is stopped). This type of servomotor is not widely used in industrial motion control, but they form the basis of the simple and cheap servos used for radiocontrolled models. More sophisticated servomotors measure both the position and also the speed of the output shaft. They may also control the speed of their motor, rather than always running at full speed. Both of these enhancements, usually in combination with a PID control algorithm, allow the servomotor to be brought to its commanded position more quickly and more precisely, with less overshooting.

2.14 Stepper Motor Stepper motor is an electric motor which is used in control system for the precise rotation by some predefined angle. The Bipolar Stepper motor is very similar to the unipolar Stepper except that the motor coils lack center taps. Because of this, the bipolar motor requires a different type of controller, one that reverses the current flow through the coils by alternating polarity of the terminals, giving us the name - Bipolar. A Bipolar motor is capable of higher torque since entire coil(s) may be energized, not just half-coils. Where 4-wire steppers are strictly 'Bipolar'. The Bipolar Stepper motor has 2 coils. The coils are identical and are not electrically connected. You can identify the separate coils by touching the terminal wires together-- If the terminals of a coil are connected, the shaft becomes harder to turn. The Bipolar Controller must be able to reverse the polarity of the voltage across either coil, so current can flow in both directions. And, it must be able to energize these coils in sequence. Let us look at the mechanism for reversing the voltage across one of the coils...


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Figure 2.14 H-Bridge for driving Stepper Motor This circuit is called an H-Bridge, because it resembles a letter "H". The current can be reversed through the coil by closing the appropriate switches - AD to flow one direction then BC to flow the opposite.

Another way of depicting the H-Bridge... Since each half of the bridge can both sink and source current, it qualifies as a push-pull type amplifier, and can be drawn with the symbol for the amplifier. H-bridges are applicable not only to the control of stepping motors, but also to the control of DC motors, solenoids and many other applications, where polarity reversal is needed. Diodes protect the switches from the kickback of inductive type loads, such as the coils of a stepper. Two such circuits are needed to drive both coils of the bipolar stepper, and are commonly called a" Dual H-Bridge."


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Autonomous Pothole filler Robot 2.14.1 Conceptual Model of Bipolar Stepper Motor

Figure 2.15 Conceptual Model of Bipolar Stepper Motor The coils are activated, in sequence, to attract the rotor, which is indicated by the arrow in the picture. (Remember that a current through a coil produces a magnetic field.) This conceptual diagram depicts a 90 degree step per phase. Assuming Terminal 1a is positive and 1b is negative, the rotor points to the East in this diagram. If these two terminals were reversed in polarity the rotor would point to the West. Coil 2 is entirely de-activated in the diagram. In a basic "Wave Drive" clockwise sequence, winding 1 is de-activated and winding 2 activated to advance to the next phase. The rotor is guided in this manner from one winding to the next, producing a continuous cycle. Note that if two adjacent windings are activated, the rotor is attracted mid-way between the two windings.


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CHAPTER 3

DESIGN AND IMPLEMENTATION This chapter discusses the algorithm, basic design and implementation of the different analog and digital circuit components employed in the project.

3.1 Flowchart of the Project

Start

Divider detected to CenterIR range sensor?

N o

U – Turn Interrupt

Y Y White line following & pothole detection & filling with continuous divider sensing

White line found?

N

White line searching algorithm

Finish

Figure 3.1 Flowchart of the overall project Dept. of TCE, JNNCE, Shimoga

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Start Configure motion ports to adjust speed of robot

Define motion sets for robot

LCD Port Configure

ADC Port Configure

Buzzer Initialization

Left, Center, Right White line sensor and Center, Right, Left Sharp IR Range sensors

ADC Conversion

1 Dept. of TCE, JNNCE, Shimoga

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1

Estimation of Values for Range sensors in millimeter

Print Value on LCD

Divider Detecte d?

N

Y

U-Turn Already taken ?

N

U -Turn

Y

Initialize Servo motor

Scan the entire region with the arm mechanism

2


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2

Pothole detected ?

Y

Print on LCD and Pothole filling algorithm

N

N

White line detected at center sensor?

Y

Move with maximum velocity

Outside the left or right sensor

Return Adjust to white line

Figure 3.2.White line following and pothole detection algorithm


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START

MOVE FORWARD BY 30 CM

TAKE RIGHT TURN BY 90 DEGREES

MOVE FORWARD BY 49 CM

TAKE RIGHT TURN BY 90 DEGREES

RETURN Figure 3.3 U- Turn interrupt


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START

POTHOLE DETECTED BY MAIN RIGHTOR LEFT SENSOR

3

L

4

R

CALCULATE THE MID POINT OF WIDTH OF THE POTHOLE

IF POTHOLE DETECTED TO THE RIGHT OR LEFT SECONDARY SENSOR

CALCULATE THE MID POINT OF WIDTH OF THE POTHOLE

L ROTATE STEPPER MOTOR IN ANTICLOCKWISE DIRECTION TILL FILLER REACHES CORRECT PLACE

SENSE THE POTHOLE IN REAL TIME AND FILL TILL POT HOLE IS COMPLETELY FILLED

R

ROTATE STEPPER MOTOR IN ICLOCKWISE DIRECTION TILL FILLER REACHES CORRECT PLACE

SENSE THE POTHOLE IN REAL TIME AND FILL TILL POT HOLE IS COMPLETELY FILLED

TRANSFER THE POSITION OF THE DETECTED POTHOLE TO THE MAIN LEFT SENSOR BY EXTENDING THE DETECTION ANGLE

3

RETURN

TRANSFER THE POSITION OF THE DETECTED POTHOLE TO THE MAIN LEFT SENSOR BY EXTENDING THE DETECTION ANGLE

4

Figure 3.4 Pothole Filling


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Autonomous Pothole filler Robot Figure 3.1 to 3.4 depicts the flowchart of the project and its functionality. The robot continuously follows the white line and searches for the pothole when a pothole is found then the best point of filling is found out by the algorithm and then the filling takes. While filling real time scanning for the filled condition will takes place, when the pothole is filled the robot is again bound to follow the white line. To simulate the real scenario of the pothole filling we have designed an arena, the robot is supposed to travel on this arena,

Fig 3.5 Blue Print of the arena


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Autonomous Pothole filler Robot The robot is bound to complete the following tasks so as to complete the challenge of filling the pothole on the given scenario •

Traverse throughout the arena and scan the area for the potholes using arm assembly mounted on the robot.

•

When Pothole is detected, automatically activate dispenser mechanism.

•

Dispenser mechanism will fill pothole.

•

Real Time scanning of pothole to ensure its complete filling.

•

Make a U-turn when the other part of the lane is to be traversed.

•

Should stop navigating when any obstacle is detected.

•

Should indicate when the material in the source gets empty.

The working of the complete project is divided into three kinds 1) Navigation 2) Pothole Detection 3) Pothole Filling

3.2 Navigation Navigation consists of movement of the robot along the arena, to make this traversal possible, the following components are involved 

DC Geared Motor



Position Encoder



White line sensors

3.2.1 DC Geared Motor Firebird V robot has two 75 RPM DC geared motors in differential drive configuration along with the third caster wheel for the support. Robot has top speed of about 24cm per second. Using this configuration, the robot can turn with zero turning radius by rotating one wheel in clockwise direction and other in counter clockwise direction.


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3.2.1.1 PWM for DC Motor Speed Control

Pulse width modulation is a process in which duty cycle of constant frequency square wave is modulated to control power delivered to the load i.e. motor. Duty cycle is the ratio of ‘TON/ T’. Where ‘TON’ is ON time and ‘T’ is the time period of the wave. Power delivered to the motor is proportional to the ‘TON’ time of the signal. In case of PWM the motor reacts to the time average of the signal.PWM is used to control total amount of power delivered to the load without power losses which generally occur in resistive methods of power control.

Figure 3.6 PWM Illustration


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Autonomous Pothole filler Robot Figure shows the PWM waveforms for motor velocity control. In case (A), ON time is 90%of time period. This wave has more average value and hence more power is delivered to the motor. In case (B), the motor will run slower, as the ON time is just 10% of time period.

3.2.1.2 Logic level for the motor direction control

Table 3.1 Microcontroller Connections for Motor

Table 3.2 Logic Levels for Motor control


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Autonomous Pothole filler Robot 3.2.2

Position Encoder:

Position Encoder is used for the precise movement during the U-turn of the robot to enter the other lane of the road

Table 3.3 Position Encoder connections to Microcontroller

3.2.3 White Line Sensors: White line sensors are fitted to the robot so as to detect the white line in the center of the arena, the programming is done in such a way that the robot is brought back to white line when it goes off course. For white line sensors to properly work calibration must be done , the procedure is explained below.

3.2.3.1 White Line sensor calibration By using trimming potentiometers located on the top center of the main board, line sensors can be calibrated for optimal performance. Line sensors are factory calibrated for optimal performance. Using these potentiometers we can adjust the intensity of the red LEDs of the white line sensor. Sensitivity adjustment is needed, when colour contrast between the white and nonwhite surface in a white line grid is not adequate. In such cases the sensors can be tuned to give maximum difference between white and non-white surfaces. You can also turn on and turn off red LEDs and take sensor readings at the same place and nullify the effect of the ambient light.

3.2.3.2 Effect of ambient light on the white line sensors White line sensors are highly directional in nature hence they are immune to the illumination from tube light or CFL. Note that tube light which uses simple inductive chock actually blinks 50times a second and this blink is captured by the white line sensors as ADC can acquire data at very fast rates. Hence it is recommended that use CFL lights or tube lights with electronic chock Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot or ballast. These tube lights are the one which turns on like a bulb without flickering. White line sensors are essentially sensitive photo transistors with precision lens assembly. All the photo diodes and photo transistors are many times sensitive to infrared than to red light. Hence for consistent result avoid room which have large windows even if they have curtains. Also avoid using robots in area illuminated with filament based bulbs as they have large infrared light radiation.

3.3 Pothole Detection: Pothole detection is done by the Sharp IR Range sensors which are facing downward to the road and these are fitted on the arms which are connected to the servo motor.

3.3.1 Sharp IR range sensors: GP2YOA02YK IR The above is a precision distance sensor, which detects the potholes present in the arena. Range sensor basically consists of the IR (Infrared) led and linear CCD (Charged Couple Device) array which is fitted inside a plastic casing. When a narrow beam of IR Ray from the IR Transmitter incidents on any surface or objects, it reflects back to the linear CCD array. This accounts to the difference in angle produced due to the different distances from the object which is measured to get the corresponding analog output voltage from the sensor. The sensor works on Triangulation method and not on intensity. Thus it is immune to ambient light and can detect object of any colour. This sensor has a blind spot of 0 to 10 cm where, sensors give erroneous readings. To detect potholes present in the arena, we are using the Sharp IR Range sensor which is fitted on the arm mechanism with the help of moving arm we can scan entire region for detection of potholes. Servo motors are used to control two arm assembly. The Left arm detects the pothole to the left part of the road and the right arm to right side. The arms are placed at the height of 15 cm from the road level, on the top of the robot. The above mentioned sensors are attached at the far end of the arms in such a way that it faces downwards to measure the distance between road and sensor itself. When the arm is scanning, the pothole is an increase in the distance between the surfaces due to the depth of the pothole. This is how pothole is detected.


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Infrared Range Sensor for detection of pothole.

Servo Motor

Fig 3.7 Side View of the Arm Assembly used in detecting Pothole


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Autonomous Pothole filler Robot 3.3.2 How Pothole is detected?

Pothole is detected by the increase of distance; it is illustrated in the figures below,

Sharp Infrared Range Sensor at Normal Surface.

Fig 3.8 Illustration of Sharp sensor detection at normal surface

Sharp Infrared Range Sensor at Pothole Distance > Normal distance

Fig 3.9 Illustration of Sharp sensor detection at Pothole

Height of Sensor from ground = x mm

When Potholes detected = x mm + y mm = (x+y) mm

When Potholes Filled = x mm

So when Distance detected is x mm, it is detected that pothole is filled or there is no pothole and robot moves forward. Dept. of TCE, JNNCE, Shimoga

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3.3.3 Position of the IR Range Sensors on and around the robot

Auxiliary Arms

Sharp Infrared Range Sensor Primary Leftto detect potholes to the left of white line

Sharp Infrared Range Sensor Right- to detect potholes to the right of white line

Center Sharp Infrared Range Sensor - to give precise location to make a U-Turn

Four Dependent arms connected to single Servo Motor Servo Motor for Arm Movements

Fig 3.10 Position of Sensors on and around the robot


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3.3.4 Construction of assembly for pothole detection

Arms made from Fiber material (Sun wood)

Fig 3.11 Illustration of arm structure

The arms are constructed with the help of the locally available material called the sun wood. This wood provides maximum strength and is very light weight, economical too. So this is chosen as the best material for the whole construction of the robot.


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Autonomous Pothole filler Robot 3.3.5 Estimation of best point for filling

First Random point of detection

Best point for Filling

First initial estimation for

Angle traced by action of servo

lling

Initial point

Final point

Fig 3.12: - Illustration of Selection of point of filling

The best point for filling is found out by the algorithm which finds the centroid of the whole pothole. Initially only a random point is detected while the robot is traversing, a when this algorithm is applied then the robot will find the best point by calculating the average of the maximum stretches of the ends of the pothole. That average will be the center of the pothole and it’ll be the best point for filling.


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3.4 Pothole Filling: 3.4.1 Construction of Dispenser Mechanism

Container

Dispenser Mechanism

Sweeper

Fig 3.13 Illustration of Dispenser Mechanism


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Autonomous Pothole filler Robot 3.4.2 Stepper Motor Stepper motor is used here to switch left or right opening in the container which is connected to the primary arms

Gear Assembly

Fig 3.14 Illustration of Gear Assembly


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Autonomous Pothole filler Robot 3.4.2.1 Flow Selection using stepper motor

Anti Clockwise movement of stepper motor for left opening.

Figure 3.15 Flow Selection Left

Clockwise movement of stepper motor for right opening.

Figure 3.16 Flow Selection Right


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3.5 Programming the AVR

Figure 3.17 NEX Robotics ISP USB Programmer NEX AVR USB ISP STK500V2 is a high speed USB powered STK500V2 compatible. InSystem USB programmer for AVR family of microcontrollers. It can be used with AVR Studio on Windows7 it can be used in HID mode with GUI as programming interface. Its adjustable clock speed allows programming of microcontrollers with lower clock speeds. The programmer is powered directly from a USB port which eliminates need for an external power supply. The programmer can also power the target board from a USB port with limited supply current of up to 100mA.


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Autonomous Pothole filler Robot 3.5.1 Features 

Low cost USB compatible (No legacy RS232 required)



Can be used with AVR dude on Win7/XP/Vista



Jumper adjustable programming clock speeds for low clock speed microcontrollers. Low speeds from 32 KHz to 1MHz are supported.



Programs almost all AVR microcontrollers



Jumper selectable HID/CDC mode.



USB powered



Jumper selectable 5V power supply for target boards



Standard 10 pin (5x2) programming connector



Power and programming activity indicator LEDs



No external power supply required

3.5.2 ISP Connector Pin Details

Figure 3.18 ISP Pin Details


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3.5.3 STK500v2 GUI STK500V2 is a high speed USB powered STK500V2 compatible In-System USB programmer for AVR family of microcontrollers.STK500v2 has to be configured in HID mode to work with STK500v2 GUI. The below figure shows the STK500v2 GUI.

Figure 3.19 ISP USB Programmer’s GUI


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Figure 3.20 Details of GUI Microcontroller: - Select micro controller from the list of microcontrollers present in the GUI to write file on them. Exit: - Exit STK500v2 GUI. Browse: - Browse the path of the file that you want to write on the microcontroller. Program: - Program/Write selected file on microcontroller. Erase: - Erase the file that is currently written on the microcontroller. Verify: - Verify the currently loaded file on the microcontroller. Clear: - Clear STK500v2 GUI window. E Fuse: - Input proper extended fuse value from Table 2 or Table 3 to write the microcontrollers fuse setting. H Fuse: - Input proper High fuse value from Table 2 or Table 3 to write the microcontrollers fuse setting. L Fuse: - Input proper Low fuse value from Table 2 or Table 3 to write the microcontrollers fuse setting. Read: - Read the microcontrollers current fuse setting. Write: - Write microcontrollers fuse setting.


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3.5.4 Programming using the GUI To program the Target board’s Microcontroller with the GUI we need to do the following actions, 

Select the Proper Microcontroller



Select the file for the burning(.hex file)



Click on Program

Figure 3.21 Programming using GUI Dept. of TCE, JNNCE, Shimoga

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CHAPTER 4

CONCLUSION AND FUTURE SCOPE 4.1 Conclusion After successfully testing all different codes, the final outcome of this project is that it can be successfully implemented on detecting and filling pothole autonomously. The outcome of the project is discussed in terms of advantages and limitations in the following sections.

4.2 Advantages 

Automatically detect and fill the potholes.



Eliminates manual filling of potholes.



Saves lot of time.



Saves the funds which are to be invested on the laborers.



Robot is highly reliable.



Since it is completely autonomous, no human intervention is needed.



Economical way of implementing automation in fixing a pothole.

4.3 Limitations 

During design phase some parameters were limited to only prototype model, real life model is still needed to designed and fabricated.



Line Sensors may be affected by the ambient light. Real life model should overcome this

4.4 Future Scope The future scope of this project is development of a real life model which will working on fixing the potholes. The prototype can be modified and fabricated according to the needs.


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REFERENCES [1] ACE in the Hole: Adaptive Contour Estimation Using Collaborating Mobile Sensors Sumana Srinivasan, Krithi Ramamritham and Purushottam Kulkarni Department of Computer Science and Engineering,Indian Institute of Technology Bombay, Mumbai - 400076, INDIA. [2] Resource management for real-time tasks in mobile robotics Huan Li , Krithi Ramamritham Prashant Shenoy , Roderic A. Grupen ,John D. Sweeney [3] Fire Bird V ATMEGA2560 Hardware Manual [4] Fire Bird V ATMEGA2560 Software Manual [5] AVR Studio 4 Tutorail [6] USB ISP Programmer Manual [7] www.stepperworld.com/Tutorials/pgBipolarTutorial.htm [8] www.edaboard.com


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APPENDIX A Source Code #include #include #include #include #include "lcd.c" voidport_init(); void timer5_init(); void velocity(unsigned char, unsigned char); unsigned char ADC_Conversion(unsigned char); unsigned char ADC_Value; unsigned char sharp_center; unsigned char sharp_left; unsigned char sharp_right; unsigned char sharp_aux_left; unsigned char sharp_aux_right; unsigned char flag1 = 0; unsigned char flag2 = 0; unsigned char flag3 = 0; unsigned char flag4 = 0; unsigned char flag5 = 0; unsigned char Left_white_line = 0; unsigned char Center_white_line = 0; unsigned char Right_white_line = 0; unsigned int value_center,value_left,value_right,value_aux_left,value_aux_right; unsigned long intShaftCountLeft = 0; //to keep track of left position encoder unsigned long intShaftCountRight = 0; //to keep track of right position encoder unsigned long int ShaftCountLeft1 = 0; //to keep track of left position encoder unsigned long int ShaftCountRight1 = 0; //to keep track of right position encoder unsigned int Degrees,degrees1; //to accept angle in degrees for turning unsigned int count=0; int motor_pattern[4]= {0x10,0x80,0x20,0x40}; int servo_pattern[6]={15,20,25,30,25,20}; int steps,l=0; int v=0,p=0,k=0,z=0,x=0,u=0,w=0; unsigned int index1=0,index2=0,y=0;


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Autonomous Pothole filler Robot //Configure PORTB 5 pin for servo motor 1 operation void servo1_pin_config (void) { DDRB = DDRB | 0x20; //making PORTB 5 pin output PORTB = PORTB | 0x20; //setting PORTB 5 pin to logic 1 } //TIMER1 initialization in 10 bit fast PWM mode //prescale:256 // WGM: 7) PWM 10bit fast, TOP=0x03FF // actual value: 52.25Hz. void timer1_init(void) { TCCR1B = 0x00; //stop TCNT1H = 0xFC; //Counter high value to which OCR1xH value is to be compared with TCNT1L = 0x01; //Counter low value to which OCR1xH value is to be compared with OCR1AH = 0x03; //Output compare Register high value for servo 1 OCR1AL = 0xFF; //Output Compare Register low Value For servo 1 ICR1H = 0x03; ICR1L = 0xFF; TCCR1A = 0xAB; /*{COM1A1=1, COM1A0=0; COM1B1=1, COM1B0=0; COM1C1=1 COM1C0=0} For Overriding normal port functionality to OCRnA outputs. {WGM11=1, WGM10=1} Along With WGM12 in TCCR1B for Selecting FAST PWM Mode*/ TCCR1C = 0x00; TCCR1B = 0x0C; //WGM12=1; CS12=1, CS11=0, CS10=0 (Prescaler=256) } //Function to rotate Servo 1 by a specified angle in the multiples of 1.86 degrees void servo_1(unsigned char degrees) { floatPositionPanServo = 0; PositionPanServo = ((float)degrees / 1.86) + 35.0; OCR1AH = 0x00; OCR1AL = (unsigned char) PositionPanServo; }


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Autonomous Pothole filler Robot //servo_free functions unlocks the servo motors from the any angle //and make them free by giving 100% duty cycle at the PWM. This function can be used to //reduce the power consumption of the motor if it is holding load against the gravity. void servo_1_free (void) //makes servo 1 free rotating { OCR1AH = 0x03; OCR1AL = 0xFF; //Servo 1 off } //Function to configure ports to enable robot's motion void motion_pin_config (void) { DDRA = DDRA | 0x0F; PORTA = PORTA & 0xF0; DDRL = DDRL | 0x18; //Setting PL3 and PL4 pins as output for PWM generation PORTL = PORTL | 0x18; //PL3 and PL4 pins are for velocity control using PWM. } //Function to configure INT4 (PORTE 4) pin as input for the left position encoder void left_encoder_pin_config (void) { DDRE = DDRE & 0xEF; //Set the direction of the PORTE 4 pin as input PORTE = PORTE | 0x10; //Enable internal pull-up for PORTE 4 pin } //Function to configure INT5 (PORTE 5) pin as input for the right position encoder void right_encoder_pin_config (void) { DDRE = DDRE & 0xDF; //Set the direction of the PORTE 4 pin as input PORTE = PORTE | 0x20; //Enable internal pull-up for PORTE 4 pin } void left_position_encoder_interrupt_init (void) //Interrupt 4 enable { cli(); //Clears the global interrupt EICRB = EICRB | 0x02; // INT4 is set to trigger with falling edge EIMSK = EIMSK | 0x10; // Enable Interrupt INT4 for left position encoder sei(); // Enables the global interrupt } Dept. of TCE, JNNCE, Shimoga

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void right_position_encoder_interrupt_init (void) //Interrupt 5 enable { cli(); //Clears the global interrupt EICRB = EICRB | 0x08; // INT5 is set to trigger with falling edge EIMSK = EIMSK | 0x20; // Enable Interrupt INT5 for right position encoder sei(); // Enables the global interrupt } //ISR for right position encoder ISR(INT5_vect) { ShaftCountRight++; //increment right shaft position count ShaftCountRight1++; }

//ISR for left position encoder ISR (INT4_vect) { ShaftCountLeft++; //increment left shaft position count ShaftCountLeft1++; } //Function used for setting motor's direction void motion_set (unsigned char Direction) { unsigned char PortARestore = 0; Direction &= 0x0F; // removing upper nibbel for the protection PortARestore = PORTA; // reading the PORTA original status PortARestore&= 0xF0; // making lower direction nibbel to 0 PortARestore |= Direction; // adding lower nibbel for forward command and restoring the PORTA status PORTA = PortARestore; // executing the command } void forward (void) //both wheels forward { motion_set(0x06); } Dept. of TCE, JNNCE, Shimoga

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void back (void) //both wheels backward { motion_set(0x09); } void left (void) //Left wheel backward, Right wheel forward { motion_set(0x05); } void right (void) //Left wheel forward, Right wheel backward { motion_set(0x0A); } void stop (void) { motion_set(0x00); } //Function used for turning robot by specified degrees void angle_rotate(unsigned int Degrees) { floatReqdShaftCount = 0; unsigned long intReqdShaftCountInt = 0; ReqdShaftCount = (float) Degrees/ 4.090; // division by resolution to get shaft count ReqdShaftCountInt = (unsigned int) ReqdShaftCount; ShaftCountRight = 0; ShaftCountLeft = 0; while (1) { if((ShaftCountRight>= ReqdShaftCountInt) | (ShaftCountLeft>= ReqdShaftCountInt)) break; } stop(); //Stop robot }


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Autonomous Pothole filler Robot //Function used for moving robot forward by specified distance void linear_distance_mm(unsigned intDistanceInMM) { floatReqdShaftCount = 0; unsigned long intReqdShaftCountInt = 0; ReqdShaftCount = DistanceInMM / 5.338; // division by resolution to get shaft count ReqdShaftCountInt = (unsigned long int) ReqdShaftCount; ShaftCountRight = 0; ShaftCountLeft =0; while(1) { if((ShaftCountRight>ReqdShaftCountInt ) && (ShaftCountLeft>ReqdShaftCountInt )) { break; } } stop(); //Stop robot }

void left_degrees(unsigned int Degrees) { // 88 pulses for 360 degrees rotation 4.090 degrees per count left(); //Turn left angle_rotate(Degrees); } voidright_degrees(unsigned int Degrees) { // 88 pulses for 360 degrees rotation 4.090 degrees per count right(); //Turn right angle_rotate(Degrees); }


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Autonomous Pothole filler Robot //Function to configure LCD port void lcd_port_config (void) { DDRC = DDRC | 0xF7; //all the LCD pin's direction set as output PORTC = PORTC & 0x80; // all the LCD pins are set to logic 0 except PORTC 7 } //ADC pin configuration void adc_pin_config (void) { DDRF = 0x00; PORTF = 0x00; DDRK = 0x00; PORTK = 0x00; } //Function to initialize Buzzer void buzzer_pin_config (void) { DDRC = DDRC | 0x08; PORTC = PORTC & 0xF7; }

//Setting PORTC 3 as outpt //Setting PORTC 3 logic low to turnoff buzzer

void MOSFET_switch_config (void) { DDRH = DDRH | 0x0C; //make PORTH 3 and PORTH 1 pins as output PORTH = PORTH & 0xF3; //set PORTH 3 and PORTH 1 pins to 0 DDRG = DDRG | 0x04; //make PORTG 2 pin as output PORTG = PORTG & 0xFB; //set PORTG 2 pin to 0 } void turn_off_ir_proxi_sensors (void) //turn off IR Proximity sensors { PORTH = PORTH | 0x08; } void turn_on_sharp15 (void) //turn on Sharp IR range sensors 1,5 { PORTH = PORTH & 0xFB; } Dept. of TCE, JNNCE, Shimoga

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//Function to Initialize PORTS void port_init() { lcd_port_config(); adc_pin_config(); motion_pin_config(); buzzer_pin_config(); motion_pin_config(); //robot motion pins config left_encoder_pin_config(); //left encoder pin config right_encoder_pin_config(); //right encoder pin config servo1_pin_config(); //Configure PORTB 5 pin for servo motor 1 operation MOSFET_switch_config(); } // Timer 5 initialized in PWM mode for velocity control // Prescale:256 // PWM 8bit fast, TOP=0x00FF // Timer Frequency:225.000Hz void timer5_init() { TCCR5B = 0x00; TCNT5H = 0xFF; with TCNT5L = 0x01; with OCR5AH = 0x00; OCR5AL = 0xFF; OCR5BH = 0x00; OCR5BL = 0xFF; OCR5CH = 0x00; OCR5CL = 0xFF; TCCR5A = 0xA9; COM5C1=1 COM5C0=0}

//Stop //Counter higher 8-bit value to which OCR5xH value is compared //Counter lower 8-bit value to which OCR5xH value is compared //Output compare register high value for Left Motor //Output compare register low value for Left Motor //Output compare register high value for Right Motor //Output compare register low value for Right Motor //Output compare register high value for Motor C1 //Output compare register low value for Motor C1 /*{COM5A1=1, COM5A0=0; COM5B1=1, COM5B0=0; For Overriding normal port functionality to OCRnA

outputs. {WGM51=0, WGM50=1} Along With WGM52 in TCCR5B for Selecting FAST PWM 8-bit Mode*/ Dept. of TCE, JNNCE, Shimoga

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TCCR5B = 0x0B;

//WGM12=1; CS12=0, CS11=1, CS10=1 (Prescaler=64)

} void buzzer_on (void) { unsigned char port_restore = 0; port_restore = PINC; port_restore = port_restore | 0x08; PORTC = port_restore; } void buzzer_off (void) { unsigned char port_restore = 0; port_restore = PINC; port_restore = port_restore& 0xF7; PORTC = port_restore; } void adc_init() { ADCSRA = 0x00; ADCSRB = 0x00; ADMUX = 0x20; ACSR = 0x80; ADCSRA = 0x86; }

//MUX5 = 0 //Vref=5V external --- ADLAR=1 --- MUX4:0 = 0000 //ADEN=1 --- ADIE=1 --- ADPS2:0 = 1 1 0

//Function For ADC Conversion unsigned char ADC_Conversion(unsigned char Ch) { unsigned char a; if(Ch>7) { ADCSRB = 0x08; } Ch = Ch& 0x07; ADMUX= 0x20| Ch; ADCSRA = ADCSRA | 0x40; //Set start conversion bit Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot while((ADCSRA&0x10)==0); //Wait for conversion to complete a=ADCH; ADCSRA = ADCSRA|0x10; //clear ADIF (ADC Interrupt Flag) by writing 1 to it ADCSRB = 0x00; return a; } // This Function calculates the actual distance in millimeters(mm) from the input // analog value of Sharp Sensor. unsigned int Sharp_GP2D12_estimation(unsigned char adc_reading) { float distance; unsigned int distanceInt; distance = (int)(10.00*(2799.6*(1.00/(pow(adc_reading,1.1546))))); distance Int = (int)distance; if(distance Int>800) { distance Int=800; } return distance Int; } //Function for velocity control void velocity (unsigned char left_motor, unsigned char right_motor) { OCR5AL = (unsigned char)left_motor; OCR5BL = (unsigned char)right_motor; } void init_devices (void) { cli(); //Clears the global interrupts port_init(); adc_init(); timer5_init(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); timer1_init(); sei(); //Enables the global interrupts } Dept. of TCE, JNNCE, Shimoga

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void print_sensor(char row, char coloumn,unsigned char channel) { ADC_Value = ADC_Conversion(channel); lcd_print(row, coloumn, ADC_Value, 3); } void arm_update(void) { sharp_left = ADC_Conversion(10); sharp_right = ADC_Conversion(12); value_left=Sharp_GP2D12_estimation(sharp_left); value_right=Sharp_GP2D12_estimation(sharp_right); sharp_aux_left = ADC_Conversion (9); value_aux_left=Sharp_GP2D12_estimation(sharp_aux_left); sharp_aux_right = ADC_Conversion (11); value_aux_right=Sharp_GP2D12_estimation(sharp_aux_right); } void white_update(void) { Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor } void center_update(void) { sharp_center = ADC_Conversion(13); //Stores the Analog value of front sharp connected to ADC channel 13 into variable "sharp" value_center = Sharp_GP2D12_estimation(sharp_center); }


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Autonomous Pothole filler Robot void stepper_cw(unsigned int degrees1) { unsignedint index=0; DDRA= 0xFF; steps=(int)degrees1/1.8; for(l=0;l0x28) && (flag1==0)) { flag1=1; forward(); velocity(137,225); Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot } if((Left_white_line>0x28) && (flag1==0)) { flag1=1; forward(); velocity(225,137); } } void whiteline_backward(void) { int flag1=0; white_update();_delay_ms(10); if(Center_white_line<0x28) { flag1=1; back(); velocity(225,225); } if((Left_white_line>0x28) && (flag1==0)) { flag1=1; back(); velocity(137,225); } if((Right_white_line>0x28) && (flag1==0)) { flag1=1; back(); velocity(225,137); } } void servo_rotate1(void) { whiteline_forward(); white_update(); if((Center_white_line<0x28)||(Left_white_line<0x28) ||(Right_white_line<0x28)) { i=servo_pattern[index1++]; Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot servo_1(i);_delay_ms(10); index1=index1%6; } } void servo_rotate(void) { whiteline_forward(); i=servo_pattern[index1++]; servo_1(i);_delay_ms(10); index1=index1%6; }

void forward_mm(unsigned intDistanceInMM) { velocity(255,255); forward(); linear_distance_mm(DistanceInMM); } void back_mm(unsigned intDistanceInMM) { velocity(255,255); back(); linear_distance_mm(DistanceInMM); } void u_turn(void) { velocity(255,255); forward_mm(220); //Moves robot forward 100mm stop(); _delay_ms(500); right_degrees(90); //Rotate robot right by 90 degrees stop(); _delay_ms(500); forward_mm(490); //Moves robot forward 100mm stop(); _delay_ms(500); Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot right_degrees(90); //Rotate robot right by 90 degrees stop(); _delay_ms(500); }

void left_open(void) {

stop();stepper_cw(65); while(1) {arm_update();_delay_ms(5); if(value_left<137){stepper_ccw(65);forward_mm(20);_delay_ms(100);break;} } stop();_delay_ms(30); } void right_open(void) { stop();stepper_ccw(65); while(1) { arm_update();_delay if(value_right<137){stepper_cw(65);forward_mm(20);_delay_ms(100);break; } } stop();_delay_ms(30); } void left_fill(void) { x=0,v=0,k=0,p=0,z=0,y=0; x=i; for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_left<155||i<=1){ p=i;break;} // p is lesser


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Autonomous Pothole filler Robot } i=x;servo_1(i);_delay_ms(100); for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_left<155 || i>=35){k=i; break;} // K is higher ,so k-p } i=x; y=k-p; if(y<5) { if(p>5 && k<25) { u=i; servo_1(i-5);_delay_ms(100); arm_update();_delay_ms(10); if(value_left>180) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_left<155||i<=1){ p=i;break;}

// p is lesser

} } i=u; servo_1(i+5);_delay_ms(100); arm_update();_delay_ms(10); if(value_left>180) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_left<155||i>=35){ k=i;break;}

// p is lesser

}


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Autonomous Pothole filler Robot } y=k-p; if(y<5) { i=u;servo_1(i);_delay_ms(100); left_open(); } } if(p<=5) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_left<155||i>=35){ k=i;break;}// p is lesser } } if(k>=25) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_left<155||i<=1){ p=i;break;}

// p is lesser

} } } if(p>0 && k>0) { z=(int)((p+k)/2);i=z;_delay_ms(100); servo_1(i);_delay_ms(200); while(1) { whiteline_backward(); arm_update();_delay_ms(5); if(value_left<155) { Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot stop();_delay_ms(50);forward_mm(65);break; } } arm_update();_delay_ms(10); if(value_left>180) { left_open(); back_mm(40);stop();_delay_ms(50); } else { back_mm(50);_delay_ms(50);arm_update();_delay_ms(10); if(value_left>180) { left_open(); } else { back_mm(35);_delay_ms(50); left_open(); } } } if(p<=0 && k<=0) {servo_1(1);_delay_ms(100);left_open();} } voidright_fill(void) { x=0,v=0,k=0,p=0,z=0,y=0; x=i; for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_right<155||i<=1){ p=i;break;} // p is lesser } i=x;servo_1(i);_delay_ms(100); for(v=0;v<50;v++) { Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_right<155 || i>=35){k=i; break;} // K is higher ,so k-p } i=x; y=k-p; if(y<5) { if(p>5 && k<25) { u=i; servo_1(i-5);_delay_ms(100); arm_update();_delay_ms(10); if(value_right>180) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_right<155||i<=1){ p=i;break;} // p is lesser } } i=u; servo_1(i+5);_delay_ms(100); arm_update();_delay_ms(10); if(value_right>180) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_right<155||i>=35){ k=i;break;}

// p is lesser

} } y=k-p; if(y<5) { i=u;servo_1(i);_delay_ms(100); Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot right_open(); } } if(p<=5) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_right<155||i>=35){ k=i;break;}

// p is lesser

} } if(k>=25) { for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_right<155||i<=1){ p=i;break;}

// p is lesser

} } } if(p>0 && k>0) { z=(int)((p+k)/2);i=z;_delay_ms(100); servo_1(i+2);_delay_ms(200); while(1) { whiteline_backward(); arm_update();_delay_ms(5); if(value_right<155) { stop();_delay_ms(50);forward_mm(65);break; } } arm_update();_delay_ms(10); if(value_right>180) { Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot right_open();back_mm(40);stop();_delay_ms(50); } else { back_mm(50);_delay_ms(50);arm_update();_delay_ms(10); if(value_right>180) { right_open();back_mm(40);stop();_delay_ms(50); } else { back_mm(35);_delay_ms(50); right_open();back_mm(40);stop();_delay_ms(50) } } if(p<=0 && k<=0) {servo_1(10);_delay_ms(100);right_open();} } void fill_aux_left() { back_mm(20);stop(); for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i++;arm_update();_delay_ms(10); if (value_left>180||i>=45) { servo_1(i+3);_delay_ms(100);left_fill();break;} }

// p is

void fill_aux_right() { back_mm(20);stop(); for(v=0;v<50;v++) { servo_1(i);_delay_ms(100); i--;arm_update();_delay_ms(10); if (value_right>180||i<=1){ servo_1(i-3);_delay_ms(100);right_fill();break;}


// p is lesser

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Autonomous Pothole filler Robot } } //Main Function int main() { init_devices();// initializing ports lcd_set_4bit(); lcd_init();// initialisinglcd. turn_off_ir_proxi_sensors(); turn_on_sharp15 (); while(1) { flag1=0; arm_update(); center_update(); white_update(); if((Center_white_line<0x28) && (Left_white_line<0x28) && (Right_white_line<0x28) && flag3==1) { stop(); lcd_string("TASK COMPLETED"); buzzer_on (); _delay_ms(2000); buzzer_off (); break; } if (value_left<180 &&value_right<180 &&value_aux_right<180 &&value_aux_left<180) { print_sensor(1,1,3); //Prints value of White Line Sensor1 print_sensor(1,5,2); //Prints Value of White Line Sensor2 print_sensor(1,9,1); //Prints Value of White Line Sensor3 if(value_center<250) { servo_rotate(); } if(value_center>=250) { Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot if((Center_white_line>0x28) && (Left_white_line>0x28) && (Right_white_line>0x28)&& flag2==1 ) { while(1) { forward(); velocity(225,50); white_update();_delay_ms(20); if(Center_white_line<0x28){break;} } } servo_rotate1(); } } if ((value_left>=180 || value_right>=180 || value_aux_left>=180 || value_aux_right>=180)) { while(1) { servo_1(i);_delay_ms(100); stop(); if(value_left>=180) { left_fill(); break; } if(value_right>=180) { right_fill(); break; } if(value_aux_left>=180) { fill_aux_left();break; } if(value_aux_right>=180) { fill_aux_right();break; } else{break;} } Dept. of TCE, JNNCE, Shimoga

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Autonomous Pothole filler Robot } if(value_center>=650 && flag2==0 && ShaftCountRight1>28 && ShaftCountLeft1>28) { u_turn();flag2=1;flag3=1; } } }


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APPENDIX- B


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Pothole filler report

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