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INTRODUCTION
Several studies have shown that both adults and children benefit

essentially from access to independent mobility. Independent mobility increases

educational and work opportunities and feelings of self-confidence and reduces

dependence on family members or caregivers. Reductions in functional ability to

move around or outside are connected with loss of social connections, reducing

participation. Mentally, reduction in mobility can lead to feelings of stress,

isolation, emotional loss, reduced self-confidence and fear of abandonment.

Wheelchair is one of the most commonly and typically used assistive

devices to further increase the personal mobility of a disabled person. It is a

necessity for enjoying their individual rights and living in dignity. Also, it assists

people with disabilities to become more productive members of the society and

to have a better quality of life. For many people an appropriate, well-designed

and fitted wheelchair can be the first step towards participation in the community.

Nowadays, assistive wheelchairs are becoming more popular in the act of

allowing autonomous or collaboratively-controlled navigation. This is an important

benefit for people with limited mobility as it provides opportunity to go farther in

their community than they might in a manual wheelchair.

Designing and developing a wheelchair that are well-designed,

appropriate and suited not only increases individual mobility, but also gives

many opportunities and work for disabled persons. Thus, to help disabled

people who have difficulties in operating the manual wheelchairs, researchers

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have used modern technologies to design an assistive wheelchair. A hand

gesture wheelchair which has the ability to bridge the gap between the user and

the device.

Elders and disabled find it resilient to move inside and outside the house

for day to day activities without assistance. The designed project is a wheelchair

that can be used by disabled people, elders and physically challenged to move

and out of their homes easily without the help of family members. The designed

project also used GPS and GSM – based tracking system which can track where

the user is, an ultrasonic sensor to warn or automatically stop the wheelchair

when the obstacles are detected 0.5 meter away from it.

The emergency button is also included so that in case of emergencies the

user can easily ask for a help by sending their nearby location to their loved ones

using SMS. The use of a traditional wheel chair can be harder for the elderly and

disabled person that is why establishing this automated assistive wheelchair will

help them in traveling without the assistance of other people. The designed

project has the ability to move the wheelchair from four different directions based

on the hand gestures of the user.

However, this project has its own restrictions and limitations just like any

other devices. The system is delimited to those people experiencing sudden

movement or shaking of the hands for the reason that accident may occur.

Furthermore, it is not recommended to use the device outside during rainy days

since it is made up of different components that are not water resistant and may
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cause malfunctioning on the device. Moreover, the system is limited only to flat

surfaces and it is only recommended for people who weigh less than 80

kilograms. The researchers see that several people having difficulties in moving

and participating in the community will benefit from this design project.

With the accomplishment of this project, people who are having problems

with mobility will have less worry when it comes to their safety in using a

wheelchair. They will also have the benefit of using a hand gesture recognition

wheelchair that would allow them to employ the direction where they would like to

go.

For the fulfilment of this project, the disabled will have an opportunity for

social involvement and it will be a substantial advantage to the family members

or caregivers who will regularly supervise the disabled individuals. Furthermore,

accomplishing this research study will be a great honor to the proponents and to

the university where they belong. Also, it will serve as a reference for the future

study for the improvement and advancement of the design project.

This design and development study titled “Hand Gesture based Wheel

Chair with GSM Tracking and Obstacle Detection for the Disabled” would

therefore be an integral development in the assistive devices interconnected with

biomedical field.
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Objectives

The main objective of the study is to develop and design a “Hand Gesture

based Wheel Chair with GSM Tracking and Obstacle Detection for the Disabled”

which has the ability to travel with the use of hand gesture, tracks by a GPS and

detects obstacle.

For the accomplishment of the main objective, the following objectives

were also considered.

1. To determine the initial factors to consider in developing the project

design.

2. To determine the appropriate design of the system with respect to the

components and materials to be used that will execute the expected

operation of the project design.

3. To determine different components needed in order to come up with the

hand gesture based wheelchair with monitoring system.

4. To design a motor driver which will operate the system, employ ultrasonic

sensors for obstacle detection and create an android application for

monitoring.

5. To test the functionality, accuracy and efficiency of the design project.

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REVIEW OF LITERATURE

Review of literature presents the conceptual literature and research

literature. This includes ideas, concepts and written researches that were

gathered by the proponents to support the study. It contains data from existing

studies, design projects and different articles that are related to the design.

Conceptual Literature

Wheelchairs have been used around a hundred of years, but early

wheelchairs are intended only to help disabled individuals to move from one

place to another. As the society and technology progressed the need of the

disabled individuals also boost for them to participate in the community and

society. Wheelchairs nowadays are not only means of transportation, but also it

is considered as a way to express individuality and relevant tool for increasing

self- confidence. Furthermore, it also provides an opportunity for them to work

and participate in the society.

Today there are varieties of assistive wheelchairs available in the market.

Some of these are operated and controlled through the use of joystick, remote,

and buttons. At present, these are the types of wheelchair:

1. Manual Wheelchairs – these are the most traditional assistive device for

disabled and elders and are moved by individual themselves without the

help of a battery. Manual wheelchairs come in many kind and structures.

They are highly portable, lightweight and durable.

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2. Electrical Wheelchairs – these wheelchairs are first used for assisting the

injured brigade during World War II. As the technology regenerates this

wheelchair control system established into an easier manner by using a

joystick, button and remote control and other ways like voice and gesture

commands.

3. Powered Wheelchairs – it includes the voice, hand gestures, head and

vision controlled wheelchair. These are typically somewhat larger than

electrical wheelchair. This designed model is much more suitable for

outdoor use than indoor use. The current study is under this category as it

is controlled by hand gestures and recommended to use indoor and

outdoor.

The need for assistive devices for navigation and orientation has

increased. The simplest and the most affordable navigations and available tools

are trained dogs and the white cane. Although these tools are very popular, they

cannot provide the blind with all information and features for safe mobility, which

are available to people with sight. Here are list of some assistive devices which

has the ability to detect the obstacle.

1. Electronic Travel Aids (ETAs) - These are devices that gather information

about the surrounding environment and transfer it to the user through

sensor cameras, sonar, or laser scanners. It has the capabilities of:

determining obstacles around the user body from the ground to the head,

affording some instructions to the user about the movement surface

consists of gaps or texture, finding items surrounding the obstacles,

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providing information about the distance between the user and the

obstacle with essential direction instructions, proposing notable sight

locations in addition to identification instructions, affording information to

give the ability of self-orientation and mental map of the surroundings. In

the present study ultrasonic sensors are used which has the capability of

determining the obstacle and give a warning signal. Although, the study

above is suited also for blind individuals which is more complicated

compare to the design project as it gives information for self-orientation of

the user.

2. Electronic Orientation Aids (EOAs) - These are devices that provide

pedestrians with directions in unfamiliar places. The guidelines of EOAs

are given in: defining the route to select the best path, tracing the path to

approximately calculate the location of the user, providing mobility

instructions and path signs to guide the user and develop her/his brain

about the environment.

3. Position Locator Devices (PLD) - These are devices that determine the

precise position of its holder such as devices that use GPS technology.

They provide critical service for visually-impaired people including

obstacle detection, obstacle avoidance and orientation services containing

GPS features. The researchers used GSM module, GPS technology

together with an android application in order to determine the position of

the user once the emergency button is pressed.

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Sensors

Nowadays, almost all of the new technologies consist of a sensor. A

sensor is an electronic component whose purpose is to distinguish events or

changes in its surroundings and drop the information to other electronics,

commonly a computer processor. It is always used with other electronics,

whether as simple or as complex as a computer . It takes a physical quantity and

converts into a signal convenient for processing. There are different types and

varieties of sensors according to its function.

1. Temperature Sensor - it is the most typical of all physical measurements.

Types of temperature sensor includes thermocouples, RTD’s (resistance

temperature detectors), and thermistors. It is found in home appliances

like refrigerators, stoves, computers, GPS devices, cellphone and

chargers.

2. Position Sensor - it is a device that distinguishes and permits position

measurement. Its applications include acceleration, shock detection

vibration and measurement. All of these sensors are commonly used in

robotics. Accelerometers, which measure acceleration, vibration and

motion in as many as three axes, were used to calculate vibration in

apparatus for anticipating maintenance or in aircraft wings for

investigation. Some of the examples of position sensor are linear

position, capacitive position sensors, linear voltage differential

transformers sensor eddy current based position Sensor, and hall effect

based magnetic position sensors, fiber-optic position Sensor

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and optical position sensors. The ultrasonic sensor which is one of the

components of the designed system is under this category which has the

abilities to measure distinct range and execute function either to stop or

just warn the user by the use of sound.

3. A pressure sensor - is a device for pressure detection of gases or liquids.

A pressure sensor normally acts as a transducer; it creates a signal as

a function of the pressure established. Absolute pressure sensor, gauge

pressure sensor, differential pressure sensor, vacuum pressure sensor

are some types of pressure sensor.

4. Light Sensor - Light sensors or sensors of light are often referred as types

of photo detectors or photo sensors. There are several varieties of these

sensors. Light sensors detect light density but do not record images. Most

common light density sensors are: Photodiodes (LDR Light Dependent

Resistors) and photo resistors (LDR Light Dependent Resistors). Photo

diode is capable of converting light into either current or voltage. Photo

resistor is a resistor whose resistance decreases with increasing light

intensity.

5. Sound Sensor - There are several types of sound sensors (microphones)

like ribbon microphone, dynamic microphone, carbon microphone,

condenser microphone, etc. The microphone is dynamic and

uses induction coil situated in the magnetic field of a permanent magnet

attached to the diaphragm. When sound is produced, the diaphragm

vibrates and thus the attached coil moves in the magnetic field, producing
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current. The sound sensor is capable to measure noise levels in decibels

(dB) at frequencies around 3-6 kHz where the human ear is most

sensitive.

6. Motion Sensor – It was invented by Samuel Bango in 1950 and named as

a burglar alarm. It is a device that notices moving objects, mainly people .

To sense a burglar alarm and send an alert to the control panel is the

main principle of motion sensor which gives an alert to the monitoring

center. Motion sensors react to several situations like movement in your

living room, windows and doors and give an alert whenever there is a

motion sense in the restricted area.

7. Microwave Sensor – This sensor generates microwave pulses and then

determine their reflection off of objects, in order to recognize whether

objects are moving or not. Microwave sensors are very sensitive, but

sometimes these can be found in nonmetallic objects which can be

detected moving objects on the outside of the target range. A lot of power

is consumed by these sensors so that they are frequently designed to

cycle ON & OFF.

Studying the different sensors specified above, the researchers

selected the best sensor which can cover the all the functions needed by

the system. The system composed of four (4) ultrasonic sensors situated

in the front, back, right side and left side of the wheelchair. When the

obstacle is detected either in front or back of the wheelchair it will

automatically stop. Addition to it, sensors in the left and right sides are
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expected just to warn the users once obstacles are detected. Moreover, all

the executions of the sensors are designed to detect obstacle within 0.5

meter away from the system.

GSM (Global System for Mobile Communication)

The ideas and concepts of GSM (Global System for Mobile

Communication) were developed at Bell Laboratories in 1970. It is the heavily

used mobile communication system in the world. It is an open and digital cellular

automation used for transferring mobile voice and data services that operates at

the 850MHz, 900MHz, 1800MHz and 1900MHz frequency bands. A GSM

reduces and digitizes the data, then transmits it down through a channel with two

distinct streams of client data, each in its own specific time slot. A GSM network

consists of the following:

1. A Mobile Station: It is the mobile phone which is composed of the

transceiver, the display and the processor and is restrained by a SIM

(Subscriber Identity Module) card operating over the network.

2. Base Station Subsystem: It acts as connection between the network

subsystem and the mobile station. It consists of the Base Transceiver

Station which has the radio transceivers and organizes the protocols for

communication with phones. Also it has the Base Station Controller

which manage the Base Transceiver station and acts as contact

between the and mobile switching center and the mobile station.
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3. Network Subsystem: It implements the basic network relation to the

mobile stations. The main part of the Network Subsystem is the Mobile

Service Switching Centre which maintains access to different networks

like ISDN (Integrated Services Digital Network), PSTN (Public Switched

Telephone Network) etc. It is also composed of the Home Location

Register and the Visitor Location Register which handles the call

routing and roaming capabilities of GSM. It also contains the Equipment

Identity Register which controls an account of all the mobile equipments

wherein each mobile is identified by its own IMEI (International Mobile

Equipment Identity) number.

The design project is more useful and meaningful when it is equipped by a

monitoring device for the safety and security purposes. It consists of emergency

button so that user can easily call for a help in case of emergency. Once a button

is pressed a message will send to the family members whose smartphones are

activated with the system. The application which acts as the communication

between the user and the family members would have the ability to track the

nearby location where the user is. The design project would become more

effective device not only for the user but also to their love ones. As a result, the

worry will be lessen not only for the family members but also to the users as they

feel comfortable and secure.

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Microcontroller (MCU)

Microcontroller is one of the typical electronic components that have been

used and act as a brain of most modern devices which are automated. It is the

one that executes all the commands to the system given by the user. It is divided

into categories according to their memory, architecture, bits and instruction sets.

The design project is composed of 5 (five) microcontrollers: for the first wheel,

for the second wheel, for the sensors, for the gyroscopic sensors situated in the

user’s hand, and for the GSM module for monitoring.

It contains at least one or many central processing unit alongside memory

and programmable information/yield peripherals. Program memory as

Ferroelectric RAM, NOR streak or OTP ROM is frequently included on chip.

Microcontrollers are intended for inserted applications, as opposed to the

microchips utilized as a part of PCs or other universally useful applications

comprising of different discrete chips.

Considering all the ideas of the devices and components stated above,

the proponents come up with the design of an automated wheelchair which is

composed of common sensors and is supervised by GSM. There are some

existing designs which are relevant to the concepts of the design project but are

not commercially available. As an improvement to this, the proponents designed

and created an obstacle detection sensor which has the ability to distinguish

obstacles on the path of the wheelchair. Therefore, the design project is feasible

as a result of ideas and theories presented above.

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Motors

Motors are machines powered by electricity or internal combustion which

supplies motive power for a device or vehicle. These are classified in two kinds

Alternating Current (AC) motor and Direct Current (DC) motor.

1. AC Motors – These are highly flexible in many features including speed

control. It is low power demand on start, controlled acceleration and

adjustable operational speed and reduced power line disturbances. AC motor

types are:

1.1 Synchronous – In this type, the rotation of the rotor is synchronized

with the frequency of the supply current and speed remains constant

under varying loads.

1.2 Induction (Asynchronous) – This type of motor uses electromagnetic

induction from the magnetic field of the stator winding to produce an

electric current in the rotor and hence torque.

2. DC Motors – The first type of motor widely used and the systems initial costs

tend to be more economical than AC systems. The DC motors speed can be

controlled by varying the supply voltage and are available in wide range of

voltages, however the most popular type 12V and 24 V, with some of the

advantages being: easy installation, speed control over a wide range, easy to

control and high starting torque. The two common types of DC motors are:

2.1.1. Brushed DC Motors – These are the traditional type of DC motors

and are typically used in relatively simple control system. Under this
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motor type are: Series Wound, Shunt Wood, Compound Wood and

Permanent Magnet.

2.1.2. Brushless DC Motors – These types of DC motors that are

generally used in positional and speed control where ruggedness and

reliability are required. Stepper Motors is an example of brushless

motor which are primarily used in open-loop position control.

The hand gesture wheelchair is propelled by means of DC wiper motor. It

is a device used to remove rain in the windshield of the vehicles. It is categorized

as a permanent – magnet type under brushed DC motor. Wiper motor is a single

speed motor with 8-slots armature mounted on self-lubricating sintered bushes.

At the driving end two carbon brushes, set 180 degrees apart rub on an 8

segment commutator is generally installed. To protect it against corrosion, two

strong permanent magnets are bonded to the steel yoke using an adhesive,

which is sometimes coated externally with non-ferrous metal. The project design

consists of two 12 V DC wiper motor installed in each of the wheel. It can

accommodate with a maximum weight of 80 kg. wherein motor driver and

microcontroller are connected to it. Each motor is powered by a 12 V

rechargeable lead acid battery. The proponents chose wiper motor as long as it

is cost-effective, easy to install and its accessibility.

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RESEARCH LITERATURE

Research literature presents the local studies and foreign studies related

to the concepts and ideas of the present design. It contains written researches,

different articles and invention that are gathered together to support the current

design.

Local Studies

Arboleda E., Alegre M., Idica K. (2015), designed and developed an

inexpensive wheelchair with obstacle detection feature. It has functions similar to

the wheelchair that is commercially available. To accomplish the wheelchair,

weightless manual wheelchair is needed with two electric motors. The

components used are joystick, ultrasonic sensors, switches and infrared sensors.

A microcontroller is used to analyze and read input command and directions.

Joystick provides the commands which are interpreted and received by the

wheelchair. The system can also detect if the person is seated on the wheelchair.

It can be used in inclined surfaces and has a weight limit up to 10 kg only.

Relating this study to the present project, they both have the ability to detect

obstacle. Instead of joystick, gyroscope sensor is used to interpret the hand

gestures orientation and send it to the microcontroller, which serves as the brain

of the system. Also, DC wiper motor is used rather than electric motors as long

as it is more economical.
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Cortez R.M.N., Lachica F.L. Jr., Yong E.D. (2014) invented a smart cane

for the blind. Smart cane is an assistive device presented to assist the visually –

impaired persons in detecting the obstacles around their environment. This

provides safety and easier mobility for the blind persons. Infracane is a special

type of smart cane as an innovation to the existing smart canes available in the

market. To provide a user – friendly and more accurate output for blind persons,

there is a voice message that alerts and they can clearly understand to guide

them on their way. The main components of the Infracane are the

microcontroller, Infrared proximity sensor, earphone and the voice module kit.

Infrared sensor is the one responsible for the obstacle detection will provide the

input data for the system that will be read by the microcontroller and will convert

it into corresponding voice message giving the location (front, left, right) and

distance ( one, two, three) in feet distance. Comparing the ideas presented

above, the design project also implemented microcontroller and sensor for

recognizing obstacle. In the current design once obstacle is detected the system

would stop or produce a sound to warn the user instead of corresponding voice

message that infracane do.

Arias M.F.V., Arellano A.M.C., DelaLuna A.B., Santillan A.M., and.Temeña

M.C., (2012), alumni from Mapua Institute of Technology designed a project

entitled “Voice-Activated Wheel Chair”. It includes infrared sensors that will make

the wheelchair stop when it encounters obstacles. The added elevation function

of the wheelchair makes it more mobile and dependable. The group’s prototype

can easily be maneuvered through the use of a voice-activated wheelchair which

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has a microcontroller that accepts and carries out commands. The researchers

use infrared or IR sensors that make the wheelchair stop automatically, and three

pairs of LED lights at the back that lit up when stopped. The design project used

a sensor in order to stop or deliver a warning signal to the user if the obstacle is

within the distinct range. They are related to the idea of allowing the

microcontroller to accept and execute commands in order to maneuver the

system. However, ultrasonic sensor is utilized instead of infrared sensor due to

its functionality and reliability. Ultrasonic sensors work using sound waves and

detecting obstacles is not affected by as many factors compare to IR sensor

which has lot of limitations : the inability to use them in sunlight due to

interference, it is difficult to detect obstacles outdoor and dark indoor

applications.

Candole M.A., (2013) of Tahanang Walang Hagdanan Inc. (TWH’s)

research and development group designed and creates an E-Wheelchair for the

benefits of the patients in the (TWH). The controls are easy to reach and

manipulate, the motor is silent and the whole device is easy to use. The concept is

like an ordinary motorcycle, where the wheelchair is situated in the front wheel. It

also contains emergency button in which the device generates a sound once the

button is pushed. Security purpose is the relevant idea that exists between the two

projects. The project design is also equipped with emergency button monitored

through GPS and GSM. Using GPS and GSM monitoring system is more effective

than generating only a sound when the button is pushed. In the present design

even if the family members are distant away from the user, monitoring is still
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possible. Instead of AC motor, DC motor is employed in the system considering

the speed of the wheelchair. DC motor is easier to provide a constant speed which

is the speed recommended in the project design than the AC motor.

Foreign Studies

The wheelchair designed by the team engineering students in University

of Virginia (2014) entitled “Solar Powered Wheelchair Design Complete With

Smartphone Charger” has retractable solar panels and even a solar powered

gadget charger. The chosen solar panels serve two purposes. Not only do they

allow the wheelchair to charge even on cloudy days, but they also provide shade

on sunny days. Everything on this wheelchair can be controlled with a joystick.

The commands send by the joystick are executed by the microcontroller to the

motor in order for the device to move in specific direction. Anyone who has

enough mobility to move a joystick can control the chair with ease. The

wheelchair also has several USB power outlets so the user can charge a

smartphone, tablet or any other mobile device using solar power. The

implementation of sensors, GSM and GPS for security purpose are the concepts

added to the present design. However, it is relevant to the current project in the

process of sending signal to the microcontroller which will interpret the command

and accomplish the movement of the system.

P. Jha and P. Khurana (2016), conducted a research aimed to prepare a

Hand Gesture Controlled Wheelchair for the physically disabled people who

experiencing difficulty in moving from one place to another in day today life.

Accelerometer ADXL335 is used as a sensor which gives an analog signal in a

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on its movement in any of the 6 axis directions: positive X, negative X, positive Y,

negative Y, positive Z, and negative Z. The transmission of signal from the

accelerometer to the microcontroller is in a wireless manner. The motor used in

the wheel chair is a permanent magnet 24 V DC motor of 17 watts. Comparing to

the present design both wheel chair send signal wirelessly to the microcontroller.

However, gyroscope sensor is used as a controller in the present design instead

of ADXL335 accelerometer. Also, implementation of ultrasonic sensor for object

detection, GPS to know the nearby location and GSM module to send an SMS to

predefined number in case of emergency are added to the prototype as a safety

features.

Bisht N.S., Dobhal P., and Murari S., (2013) present a study entitled

“Smart Wheelchair for Physically Handicapped People Using Tilt Sensor and

IEEE 802.15.4 Standard Protocol”. The research provides a wireless system for

disabled people to control the motion of the wheelchair by the use of the

movement of user’s hand or head. Micro-Electro-Mechanical Systems)

Accelerometer (MEMS) is employed to transmit and control signals to the

receiver. The system consists of a transmitter which acts as a wireless remote on

that can be placed either in hand or head. In relation to the present design, they

are related in the manner of controlling the device. Both designs are

implementing wireless communication between the device and user’s controller.

MEMS accelerometer is used as hand controller sensor unlike to the current

design wherein gyroscope sensor is implemented.

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Dalsaniya A.K., and Gawali D.H., (2016) designed a research project

entitled “Smart Phone Based Wheelchair Navigation and Home Automation for

Disabled”. It is semi-autonomous device, which gives flexibility to users to

maneuver as per their choice. The research project have three main functions:

wheelchair navigation using multiple inputs, home automation for disable

person, obstacle detection using IR sensors. Wheelchair can be navigated

using multiple inputs like through the voice command, by moving hand or head

in four different positions which is captured using accelerometer sensor built in

android phone. To avoid the risk of collision and injury four IR sensors is fixed in

the device for detecting obstruction in forward, reverse, right and left direction.

The camera is also placed so that it can capture the images of the environment

and create a map through inbuilt software. The system offers home automation

by providing a voice command to the android phone.The study mentioned

above is linked to the present design project which uses the same concept of

automation but in distinct manner. The proponents used a hand gesture for the

transaction of the command rather than voice recognition managed by an

android phone. Both of the design has an obstacle detection features by using

different sensors. The present design used an ultrasonic because it is more

accurate to use outdoor compare to IR sensors which are easily affected by

sunlight due to interference.

Nipanikar R.S., Gaikwad V., .Choudhari C., Gosavi R., .Harne V. (2013)

presented a research International Journal of Advanced Research in Electronics

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and Communication Engineering about “Automatic Wheelchair for Physically

Disabled Persons”. The application of the voice recognition system command

was combined in this wheelchair. It has infrared sensors that are used to avoid

obstacles and ultrasonic sensors to detect holes when the wheelchair is moving.

Accelerometer was used for physical movement of the disabled when their limbs

are not working so that he/she can easily move. The study mentioned above is

linked to the present design project which uses the same concept of automation

but in distinct manner. The proponents used a hand gesture for the transaction of

the command rather than voice recognition and joystick.

Definition of Terms

Accelerometer - An accelerometer is a device that measures proper

acceleration. Some accelerometer work by the use of the piezoelectric effect -

they contain microscopic crystal structures that get stressed by accelerative

forces, which cause a voltage to be generated. Another way activate it is by

sensing changes in the capacitance.

(https://www.dimensionengineering.com/info/accelerometers)

Assistive Devices - These are tools, products or types of equipment that help

you perform tasks and activities. These may help you move around, see,

communicate, eat, or get dressed. Wheelchair is one of the most common

assistive devices for elders and disabled persons.

(https://medlineplus.gov/assistivedevices)
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Bluetooth – is wireless technology standard for exchanging data over short

distances (using short-wavelength UHF radio waves in the ISM band from 2.4 to

2.485 GHz from fixed and mobile devices, and building personal area

networks (PANs). (https://en.wikipedia.org/wiki/Bluetooth)

Bluetooth Shield – the Bluetooth Shield integrates a Serial Bluetooth module. It

can be easily used with Arduino/Seeedstudio for transparent wireless serial

communication. (https://www.seeedstudio.com/Bluetooth-Shield-V2-p-2416.)

DC Motor - A DC motor is any of a class of rotary electrical machines that

converts direct current electrical energy into mechanical energy. The most

common types rely on the forces produced by magnetic fields. DC motors were

the first type widely used, since they could be powered from existing direct-

current lighting power distribution systems. A DC motor's speed can be controlled

over a wide range, using either a variable supply voltage or by changing the

strength of current in its field windings. (https://en.wikipedia.org/wiki/DC_motor)

Infrared Sensor - An infrared sensor is an electronic instrument which is used to

sense certain characteristics of its surroundings by either emitting and/or

detecting infrared radiation. Infrared sensors are also capable of measuring

the heat being emitted by an object and detecting motion.

(https://www.azosensors.com/article.aspx?ArticleID=339)

Global Positioning System (GPS) - It is a global navigation satellite

system that provides geolocation and time information to a GPS

receiver anywhere on or near the Earth where there is an unobstructed line of

sight to four or more GPS satellites. Obstacles such as mountains and buildings
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block the relatively weak GPS signals. The GPS provides critical positioning

capabilities to military, civil, and commercial users around the world.

(https://en.wikipedia.org/wiki/Global_Positioning_System)

GSM (Global System for Mobile Communications) - GSM is a cellular

network, which means that cell phones connect to it by searching for cells in the

immediate vicinity. It is widely used mobile communication system in the world.

GSM is an open and digital cellular technology used for transmitting mobile voice

and data services operates at the 850MHz, 900MHz, 1800MHz and 1900MHz

frequency bands. (https://www.elprocus.com/gsm-architecture-features-working)

GSM Module - A GSM wireless data module is the ready a solution for remote

wireless applications, machine to machine or user to machine and remote data

communications in all vertical market applications. (http://www.gsm-

modem.de/gsm-module)

Gyroscope - Gyroscope is a device used for measuring or

maintaining orientation and angular velocity. It is a spinning wheel or disc in

which the axis of rotation is free to assume any orientation by itself. When

rotating, the orientation of this axis is unaffected by tilting or rotation of the

mounting, according to the conservation of angular momentum.

(https://en.wikipedia.org/wiki/Gyroscope)

Microcontroller (MCU) - MCU or microcontroller unit is a tiny electronic brain on

a solitary coordinated circuit. A microcontroller is a self-contained system with

peripherals, memory and a processor that can be used as an embedded system.

Most programmable microcontrollers that are used today are embedded in other

consumer products or machinery including phones, peripherals, automobiles and

 25

household appliances for computer systems.

(http://www.futureelectronics.com/en/Microcontrollers/microcontrollers.aspx)

Relay - Relays are switches that open and close circuits electromechanically or

electronically. Relays control one electrical circuit by opening and closing

contacts in another circuit. When a relay contact is normally open (NO), there is

an open contact when the relay is not energized.

(http://www.galco.com/comp/prod/relay)

Sensor - A sensor is a device, module, or subsystem whose purpose is to detect

events or changes in its environment and send the information to other

electronics, frequently a computer processor. A sensor is always used with other

electronics, whether as simple as a light or as complex as a computer.

(https://en.wikipedia.org/wiki/Sensor)

Ultrasonic Sensor - is a device that can measure the distance to an object by

using sound waves. It measures distance by sending out a sound wave at a

specific frequency and listening for that sound wave to bounce back.

(http://education.rec.ri.cmu.edu/content/electronics/boe/ultrasonic_sensor/1.)

Wiper Motor – A motor used in windscreen device used to remove rain, snow, ice

and debris from a windscreen or windshield. Almost all motor vehicles,

including cars, trucks, train locomotives, watercraft with a cabin and

some aircraft, are equipped with such wipers, which are usually a legal

requirement. A wiper generally consists of a metal arm, pivoting at one end and

with a long rubber blade attached to the other. The arm is powered by a motor,
 26

often an electric motor, although pneumatic power is also used in some

vehicles. (https://en.wikipedia.org/wiki/Windscreen_wiper)
 27

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