01854nam a2200205 a 4500001001400000003000700014005001700021008004100038020002200079040000800101100002800109245007200137246006500209260003400274300004700308502010500355520114700460650001301607650002801620vtls000039515KUKTEM20251114204402.0090706t2009    my a   f m    000 0 eng|d  aTHE0006075(Local)  aUMP0 aMohd Syamil Mohd Salleh10aMobile audio sensing autonomous robot/cMohd Syamil Bin Mohd Salleh3 aMobile audio sensing autonomous roboth[electronic resource]  aKuantan, Pahang :bUMP,c2009  a56 p. :bill. ;c30 cm. +e1 computer disc  aProject paper (Bachelor of Electrical Engineering (Electronic)) -- Universiti Malaysia Pahang - 2009  aM.A.S.A.R is an audio sensing robot that detect audio frequency. A beacon of fixed frequency is used as the audio source in this case a buzzer is used as the beacon. M.A.S.A.R detection system consists of 4 electrets condenser microphones are used to detect the sound emitting from the buzzer. The signal is then filter out by using a high-pass filter to make the output consist only of high frequency outputs. These outputs are then compared in the microcontroller. Microchip’s PIC18F4550 is used as the microcontroller for its ease of use and flexibility. By using the analog to digital converter inputs at PORTA, the filtered frequency will be digitize into 8 bits of data that is than compare with the other inputs from the other 3 microphones. The result of this comparison is evaluated by which quadrant the sound make the most noise. By referring to the quadrant the robot will rotate and then moves forward towards the sound while maintaining the primary microphone in front , directly facing the point of origin. The robot will automatically readjust it position by rotating until the primary microphone is in line with the source. 0aRobotics 0aRobotsxControl systems