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In this paper we present the implementation of proportional integral derivative (PID) controlled mobile robot. we propose a mobile robot control method which based on optical encoder. First, the mobile robot counts the number of pulses from optical sensor. This system rejects the denouncing and optical sensor noises and makes a precise count of both the wheel rotation at the same time. Then through an adaptive PID control loop it controls the speed of both the motors to reach user defined set point. PID auto tuning methods are performed in different situations like on air, on ground and with load increase. This system detects the situation the robot at present and switches between its different modes to achieve the quickest maximum efficiency. Speed of each motor is controlled by Pulse Width Modulation (PWM). Finally, we experiment in a real environment, and verify the utility of the propose method.

This paper discusses GSM based global wireless sensor network to measure increase of global warming & air pollution. Each motes of the wireless sensor network can cover the area wherever GSM network is available. Each mote consists of temperature, humidity & co2 measuring sensors, equipped with low power consuming GSM module, data logging facility & real time stamp. Motes can communicate with each other but most of the time they communicate with the central receiver. Central receiver is capable of receiving calls from modes, display the data in portable TFT LCD screen & also transmit data to computer through USB. To transmit data sensors generate call to receive station. To receive data receiver first verify the caller ID and then it receives the call. Sensors send or receive data through Dual tone multi frequency (DTMF) and will receive commands through DTMF also. Lots of control system has been designed using DTMF but in this project DTMF tones are used to create all characters of an ASCII table. The number of motes can be connected are unlimited and the coverage area is also unlimited in this project. General Terms Wireless Sensor Network, GSM, DTMF, Sensors.