AVOIDER ROBOT DESIGN TO DIM THE FIRE WITH DT-BASIC MINI  SYSTEM  Eri Prasetyo, Wahyu K.R., Bumi Prabu Prabowo  Electrical Engineering, Gunadarma University  Jakarta, Indonesia  E-mail :   eri@staff.gunadarma.ac.id ,   wahyukr@staff.gunadarma.ac.id   ,   Kbumy_fr@plasa.com  Abstract   – Avoider robot is mean robot who is designed to avoid the block in around. Except that, this robot  is also added by an addition aplication to dim the fire. This robot is made with ultrasonic sensor PING. This  sensor is set on the front, right and left from robot. This sensor is used robot to look for the right street, so  that robot can walk on. After the robot can look for the right street, next accomplished the robot is looking  for the fire in around. And the next, dim the fire with fan. This robot is made with basic stamp 2  microcontroller. And that microcontroller can be found in dt-basic mini system module. This robot is made  with servo motor on the right and left side, which is used to movement.  Keyword – sensor, microcontroller module, servo motor and fan.  1
AVOIDER ROBOT DESIGN TO DIM THE FIRE WITH DT-BASIC MINI  SYSTEM  Abstract   – Avoider robot is mean robot who is designed to avoid the block in around. Except that, this robot  is also added by an addition aplication to dim the fire. This robot is made with ultrasonic sensor PING. This  sensor is set on the front, right and left from robot. This sensor is used robot to look for the right street, so  that robot can walk on. After the robot can look for the right street, next accomplished the robot is looking  for the fire in around. And the next, dim the fire with fan. This robot is made with basic stamp 2  microcontroller. And that microcontroller can be found in dt-basic mini system module. This robot is made  with servo motor on the right and left side, which is used to movement.  Keyword – sensor, microcontroller module, servo motor and fan.  1. INTRODUCTION  Currently, electronics technology already grow  up. This situation make us easy to get microcontroller  kit with cheap price. And now,   to make possible us  make a robot. And especially, now every year is made  a competition robot. That reason, whom make us to  thing to make avoider robot.  Any some kind of   robot. And kind of robot  whom I choose to be made is mobile robot. Robot  who   is   designed   is   avoider   robot   with   addition  aplication to dim the fire. The reason made this robot  because in large scale this robot possible be involved  in fire-frontier. Because this robot can look for the  fire source.   The architecture of avoider robot is  shown in figure 1.  Figure 1. Avoider Robot Diagram Block  2. THEORY PRINCIPLE  Be explained some theory pronciple who have  connected with avoider robot.  2.1   Distance Sensor  In this moment, distance sensor is sensor who  is   ussually   used   people   to   make   robot.   Many  trademark   of   distance   sensor   which   are   sold   in  market. Like : distance sensor PING from Parallax,  Devantech SRF04, GP2D02 from Sharp etc,. The  reason this robot is made with distance sensor PING  because this sensor easy to get in market and have  price relatively more cheap than the other [1].  This sensor have ability to measure distance  maximum about 3 m. With speed of burst on air about  340 m/s [2].  2.2   Light Sensor  Light sensor is mean sensor which work with  measure light intensity which come. And light sensor  which is used to make this robot is LDR (Light  Dependent Resistor). With the reason cheap price.  LDR is made from cadmium sulfida which sensitive  from the light [3}.  2.3   Servo Motor  To movement, this robot use 2 servo motor on  the right and left. Servo motor which be used is  continuous   servo   motor   form   Parallax.   This  continuous servo motor have 360 o   rotation. Whereas  which standard servo motor only have 180 o   rotation.  2.4   Comparator  Like which already explained, this robot use  LDR sensor which is used to looking for the light (at  experiment   use   candle).   Comparator   is   used   to  compare the voltage of LDR with reference voltage  which is given on the robot. For that, IC LM324 is  needed.  2.5   Microcontroller  2
This   robot   is   made   with   basic   stamp   2  microcontroller which can be found at dt-basic mini  system   module.   This   microcontroller   have   ability  more well than other microcontroller. The function of  microcontroller   is   to   control   the   robot.   To   make  listing program robot be used software basic stamp  editor which usually is given when buy dt-basic mini  system module. Flowchart from listing program robot  can be seen in figure 2.  3. ROBOTIC PROJECT  3.1   Basic Concept  Basicly, this robot is made so that the robot  can be avoid block in around the robot. But, because  other case this robot is added addition aplication like  to dim the fire.  Like which explained before, listing program  robot be written at basic stamp editor software. And  this listing can be described like flowchart at below.  Figure 2a. Avoider Robot Flowchart  Figure 2b. Continuation Avoider Robot Flowhart  3.2   Planned of Lighting Sensor  Planned   of   lighting   sensor   can   be   seen   in  figure 3.  Figure 3. Planned of Lighting Sensor [4}  Planned of Lighting Sensor can be explined  like this. If LDR sensor get light, resistance at LDR  sensor will be down so that, LDR Voltage become  small. Then, if LDR voltage is smaller than reference  Voltage at robot so that the output will be low. Then,  the output is low, robot will approach fire source.  And then, when LDR voltage is bigger than reference  voltage so that robot will try to look for the fire  source with doing rotation the body until robot get its.  3.3   Movement  For movement, robot use servo motor. If robot  will walk forward, right servo motor is given pulse so  that can rotate CW (Clock Wise) and the left servo  motor is given pulse so that can rotate CCW (Counter  Clock Wise). And that case make robot can walk  forward. This case possible to do if servo motor is  given pulse 1000 ms for CW and 3500 ms for CCW.  3.4   Fan  3
This robot use fan which be usually used at  computer casing. Function fan is to dim the fire.  4. RESULTS AND EXPERIMENT  we have presented result of avoider robot which we  have made. The shape of avoider robot is shown at  figure 4.  Figure 4. Shape of avoider robot.  To get best result, we done the experiment.  Two experiment which done in these. First, done  experiment to test ability each PING. And the second,  experiment   got   output   from   planned   of   lighting  sensor.  4.1   PING Experiment  In   PING   experiment   be   also   founded   two  experiment. The first,   to test ability aech pING, and  the second, to get voltage value output PING with  different condition.  4.1.1   Test 1  In   microcontroller,   only   content  listing program to PING. And the result.  Table 1. Test 1 PING  Result Of PING Sensor Test  0  0,1  0,2  0,3  0,4  0,5  0,6  0,7  10   20   30   40   50   80   100   200  Distance (Cm)  Voltage (V)  PING 1  PING 2  PING 3  Figure 5. Curve of Test 1 PING  This case, can be explined like this. Because  PING sensor have constant speed to burst travels and  constant frequency so that if distance from PING and  the object is more far, PING voltage is also increase.  The result of test is shown in table 1.  4.1.2   Test 2  In second test, microcontroller already content  with listing program robot. In this second test, robot  will meet different sitution. Like turn right, turn left,  t-juntion etc,. All of them be done to make easy when  making maximum listing program from robot.  4.2   Planned of Lighting Sensor Test  For command the robot to dim fire especially  robot must able to get fire source. If robot can get fire  source, indicator LED in planned of lighting sensor  will   be   off.   This   case,   make   robot   to   move   to  approach the target and then dim the fire.  Experiment is done to get voltage LDR value,  and then compare with reference voltage at the robot.  From experiment which be already done. The result,  can be seen in table 2.  Table 2. Planned of Lighting Sensor Test  4
Planned Of Lighting Sensor Test  0  0,5  1  1,5  2  2,5  3  3,5  4  10   20   30   40   50   80   100  Distance (Cm)  Voltage (V)  VLdr  VRef  Vout  Figure 6. Curve of Planned of Lighting Sensor Test  5. CONCLUSION  ●   This robot able to avoid the block in around.  This case, because PING sensor can be worked  well.  ●   Although use LDR sensor, this robot already  able   to   get   fire   source   with   measure   light  intensity which come.  ●   Color of the block is not influence for robot  REFERENCES  [1]   Budiharto,   Widodo.   2006.   Belajar   Sendiri  Membuat   Robot   Cerdas.   Jakarta:   PT   Elec  Media Komputindo.  [2]   Tutorial   dan   Datasheet,  http://www.parallax.com.   Januari 2007.  [3]   Http://www.google.com.   Januari 2007.  [4]   Tutorial   dan   Hardware,  http:/www.innovativeelectronics.com.   Januari  2007.  5