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High CMRR Instrumentation Amplifier (Schematic and Layout) design for biomedical applications

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Instrumentation amplifiers are intended to be used whenever acquisition of a useful signal is difficult. IA’s must have extremely high input impedances because source impedances may be high and/or unbalanced. bias and offset currents are low and relatively stable so that the source impedance need not be constant. Balanced differential inputs are provided so that the signal source may be referenced to any reasonable level independent of the IA output load reference. Common mode rejection, a measure of input balance, is very high so that noise pickup and ground drops, characteristic of remote sensor applications, are minimized.Care is taken to provide high, well characterized stability of critical parameters under varying conditions, such as changing temperatures and supply voltages. Finally, all components that are critical to the performance of the IA are internal to the device. The precision of an IA is provided at the expense of flexibility. By committing to the one specific task of
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Coal mine detection robot

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It is mandatory to check the coal mine weather conditions prior to workers entry. If the weather conditions are normal then workers can enter , otherwise they will not go inside the mine. To check the weather conditions all over the mine we will send one robot which will monitor CO (carbon monoxide) in the mine, temperature and light intensity in the mine. After reading each parameter it will compare with threshold readings and produces output depending the readings taken. This robot is also an obstacle avoidance robot, it uses IR sensors to control its movement in the mine.
here is the flow chart

to download C-code
  to see video output

Schematic Diagram:
case'1':  when the light intensity is less in the mine
pulse width to the light is 0.1sec. and obstacle detected on left side. robot moving to right side 
                          A Reference book to learn about robots in hazardous environments here

case'2': when light intensity is less, high temperature and CO gas exceeded in the mine
 pulse width to the light is varying 0.1s, 0.25s and 0.5 sec to indicate 3 parameters are not in normal condition. and no obstacle detected
NOTE: 
push button at P1.3 has to be replaced by CO Gas sensor,
push buttons at P1.4 and P1.4 are to be replaced by IR sensors.  
Green LED will be replaced by Buzzer.
Threshold values may vary in practical  

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