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PERSONS
A Project Submitted
By
Department of
Electrical and Electronic Engineering
Faculty of Engineering
A project submitted to the Electrical and Electronic Engineering Department of the Engineering
Faculty, American International University - Bangladesh (AIUB) in partial fulfillment of the
requirements for the degree of Bachelor of Science in Electrical and Electronic Engineering.
Department of
Electrical and Electronic Engineering
Faculty of Engineering
Summer Semester2015-2016,
August, 2016
This is to certify that this project is our original work. No part of this work has been submitted
elsewhere partially or fully for the award of any other degree or diploma. Any material reproduced in
this project has been properly acknowledged.
___________________
____________________
____________________
4. Alam, Md Samiul
____________________
The Project titled “INTILLIGENT WHEELCHAIR FOR HANDICAPPED PERSONS” has been
submitted to the following respected members of the Board of Examiners of the Faculty of
Engineering in partial fulfillment of the requirements for the degree of Bachelor of Electrical and
Electronic Engineering on August, 2016 by the following students and has been accepted as
satisfactory.
__________________ _________________
Supervisor External Supervisor
Tajbia Karim Dr. Mohammad Nasir Uddin,
Faculty Assistant Professor
Faculty of Engineering Faculty of Engineering
American International University- American International University-
Bangladesh Bangladesh
__________________ __________________
Prof. Dr. ABM Siddique Hossain Dr. Carmen Z. Lamagna
Dean Vice Chancellor
Faculty of Engineering American International University-
American International University- Bangladesh
Bangladesh
We would like to express our greatest gratitude to the people who helped and supported us throughout
the project. We are grateful to Ms. Tajbia Karim who not only supervised our project but also
encouraged and challenged us throughout our academic program, never accepting less than our best
effort.
We are sure it would have been impossible without her help. Besides we would like thank our
honorable vice-chancellor Dr. Carmen. Z. Lamagna, Faculty of Engineering, American International
University Bangladesh (AIUB) who gave us this golden opportunity to do this wonderful project on
this topic "Intelligent Wheelchair for Handicapped Persons". We came to learn many new things and
perform research works by this project.
For the encouragement and valuable advice to further improve the design, we are thankful to our
honorable external supervisor Dr. Mohammad Nasir Uddin, Assistant Professor, Department of
Electrical and Electronic Engineering, American International University-Bangladesh (AIUB).
A special thanks goes to Md. Arif Abdulla Samy, Lecturer of Prime Asia University to share his
valuable experience in the field of embedded systems with us.
At last but not the least we want to thank our parents and classmates who boosted us and appreciated
our work.
And above all we are grateful to the Almighty Allah, who made everything possible.
Fig 2.1: Sonar ranging principles. (a) Sonar configuration (b) Echo waveform (c) Range dot
placement (d) Sonar map.............................................................................................................8
Fig 3.1: Block diagram of procedure of Android control wheelchair movement and home
automation system......................................................................................................................13
Fig 3.2: Block diagram of procedure of Android control voice directed display and living
being sensing...............................................................................................................................14
Fig 5.3: Circuit connection of android control voice input for display..................................................41
Fig 5.9: Simulation of android control home automation (One Load is ON)….…................................45
Fig 5.10: Circuit connection of android control home automation (Another Load is ON)...............….45
Fig 6.3: Connection of android control wheelchair movement and home automation..........................48
Fig 6.4: Connection of android control wheelchair movement with android application.....................49
Fig 6.5: Wheelchair operating the right direction pin through relay......................................................49
Fig 6.6: Wheelchair operating the forward direction pin through relay.................................................50
Fig 6.8: Connection of home automation with android application and the operation through
activating relay pin .....................................................................................................................51
Fig 6.9: Lamp and mobile charging process (AC load) are controlled by android software………......51
Fig 6.10: Connection of android control voice display and living being sensing..................................52
Fig 6.11: Connection of android application of voice command and sending voice to LCD................52
Introduction
1.1 Introduction
Physical disability is a curse to human life. Idea of our project "The Intelligent Wheelchair for
Handicapped Persons" has occurred to help the handicapped persons. The fundamental operation of
the wheelchair is to facilitate handicapped person with safe movement. For ensuring the safety of
movement, obstacle sensing, crack detection and living being identification features have been
included. Additionally, a voice controlled LCD has been provided considering the case of auditory
disabled people. Access to control basic home appliances has also been offered.
Pei Jia, Huosheng H. Hu, Tao Lu, Kui Yuan, (2007) “Head gesture recognition for hands‐free control
of an intelligent wheelchair” paper presents a novel hands‐free control system for intelligent
wheelchairs (IWs) based on visual recognition of head gestures.[2]
Towards an Intelligent Wheelchair System for Users with Cerebral Palsy which was published in 12
January 2010 this paper describes and evaluates an intelligent wheelchair, adapted for users with
cognitive disabilities and mobility impairment. The study focuses on patients with cerebral palsy, one
of the most common disorders affecting muscle control and coordination, thereby impairing
movement. The wheelchair concept is an assistive device that allows the user to select arbitrary local
destinations through a tactile screen interface. [3]
A brain-actuated wheelchair: Asynchronous and non-invasive Brain–computer interfaces for
continuous control of robots. This was published on 14 July 2008. The main purpose of this
wheelchair was to assess the feasibility and robustness of an asynchronous and non-invasive EEG-
based Brain–Computer Interface (BCI) for continuous mental control of a wheelchair. [4]
Development of Smart Wheelchair System for a User with Severe Motor Impairment by the Faculty of
Electrical & Electronic Engineering, University Tun Hussein On Malaysia, 86400 Parit Raja
© Faculty of Engineering, American International University-Bangladesh (AIUB)
2
BatuPahat, Malaysia Which was published on 25 August 2012.By this wheelchair users with severe
motor impairment may find it difficult to operate a wheelchair when they are in tight space (e.g.,
passing doorway) or when avoiding obstacles since they cannot command the wheelchair by means of
a conventional joystick. Here we propose a framework that can assist users to overcome such
circumstances using a hierarchical semi-autonomous control strategy.[5]
NEURAL NETWORK WITH VARIABLE TYPE CONNECTION WEIGHTS FOR
AUTONOMOUS OBSTACLE AVOIDANCE ON A PROTOTYPE OF SIX-WHEEL TYPE
INTELLIGENT WHEELCHAIR which was published on June 2006. In this paper, an assist method
for human operation of electric-powered Wheelchairs is studied. The purpose of this research is to
make powered wheelchairs intelligent and to realize a mobility aid for people, who find it difficult or
impossible to drive a conventional wheelchair. [6]
A perspective on intelligent devices and environments in medical rehabilitation by Human
Engineering Research Laboratories, Department of Veterans Affairs, Rehabilitation Research and
Development Service, VA Pittsburgh Healthcare System, United States and the paper was published in
25 September 2008, Available online 6 November 2008. Globally, the number of people older than 65
years is anticipated to double between 1997 and 2025, while at the same time the number of people
with disabilities is growing at a similar rate, which makes technical advances and social policies
critical to attain, prolong, and preserve quality of life. Recent advancements in technology, including
computation, robotics, machine learning, communication, and miniaturization of sensors have been
used primarily in manufacturing, military, space exploration, and entertainment. [7]
Wheelchair Driver Assistance and Intention Prediction using POMDPs by ARC Centre of Excellence
for Autonomous Systems, Mechatronics and Intelligent Systems Group, University of Technology
Sydney, NSW2007, Australia. The physical control systems of such wheelchair can be prohibitive for
some users; for example, people with severe tremors. Several assisted wheelchair platforms have been
developed in the past to assist such users. Algorithms that assist specific behaviors such as door -
passing, follow - corridor, or avoid - obstacles have been successful. Research has seen a move
towards systems that predict the users intentions, based on the users input. [8]
The historical review represents regarding the various types of smart wheelchairs. Our
intelligent wheelchair represents something new from the conventional technological wheelchair. The
accumulation provides the identity regarding different helpful mechanism through our tasks. On
account to differentiate with conventional technology, we added home automation system which is
totally different then other creation. This innovative invention will provide a physically disabled
person with the option of controlling the home appliances by android mobile phone easily.
© Faculty of Engineering, American International University-Bangladesh (AIUB)
3
1.3 Future Scope of this Study
Smart wheelchairs will remain fertile ground for technological research for many years to
come. Smart wheelchairs are excellent test beds for sensor research, particularly machine vision. Smart
wheelchairs also provide an opportunity to study human-machine interface, adaptive or shared control,
and novel input methods, such as voice control, EOG (Electro Oculogram). Furthermore, smart
wheelchairs will continue to serve as test beds for robot control architecture.
The future intelligent robotic wheelchair can learn the layout of its environment (hospital,
rehabilitation center, home, etc.) through a narrated, guided tour given by the user or the user's
caregivers. Subsequently, the wheelchair can move to any previously-named location under voice
command (e.g., "Take me to the cafeteria"). This technology is appropriate for people who have lost
mobility due to brain injury or the loss of limbs, but who retain speech. The technology can be
enhanced with Tongue Motion Driver to move the chair by the movement of tongue which will be
easier for totally paradise people. It can be modified by gesture technology or voice commanded
technology. The technology can also enhance safety for users modified by caterpillar tracks which can
be used through stairs. Again for the movement in outside this wheelchair can be built up with the
operation of GSM for perfect communication of the user with others. [9]
This project works are very important for the handicapped people who are disabled to walk on
their own feet, elderly, auditory disabled persons or paralyzed people. So this work is recommended
for them.
The limitation may happen in any types of working procedure. We have tried our best to
deduct the problems from our job. The speed of this chair be controlled obviously with further
development, again there front wheels are emotionally involved with a view to supporting in the case
of movement which makes a complicity while moving from one direction to other direction instantly.
This can also be developed by ensuring mechanical technology, at last at the time of rotation one
wheel is stopped according to our function. For this reason, the rotation angle is fixed. The rotation
angle can be adjusted by controlling the direction and speed of both the motors by further research. As
this design is assembled to exploit at home, there will no severe problem. Further development is
needed to exploit it to use it in road.
As the case of movement user can easily move with his/her sovereignty which is almost similar
to walk.
This wheelchair does not require hand motivated motion. Rather by using a android smart
phone with specific application, this wheelchair can be moved easily in the desired direction. The
power of the wheelchair may offer the user to provide excellent experience throughout the movement.
Handicapped people are quite sufferer to make a communication with others. Specially for the people
with auditory disability, we made the wheelchair with an Android control software based operation
system where the directions, messages or voice can be seen by the user easily. User can also use this
option for communication.
This chair has identification mechanism for the safety of handicapped people. The sensing
system of distance can make a user sure about the obstacle, identify the living being and crack on the
surface.
Sometimes the user can not be able to control the home appliances according to their wish. In
this case this wheel chair provides the home automation system as an extra ordinary function indeed.
The primary objective of this work is to make the life easier with better movement
technologies for the handicapped persons.
To provide a strong detection of obstacle, crack, living being for sensing with different
purposes for the user and to build communication level and provide home automation
features for better life leading system are secondary objective of this project .
Theory
2.1 Introduction
The intelligent wheelchair of this project consists of several features to stress-free the life of a
physically disabled person. Besides android control movement of wheelchair, obstacle, living being
and crack detecting features have been included for the safety of the disabled person. However the
home automation mechanism has been built for the easier life leading route. These diverse features
are based on miscellaneous theories. This chapter represents the theory behind the features of the
intelligent wheelchair of our project.
2.2 Theory
The main parts of this section are dc motor, arduino uno board and relay. DC motor is an
electrical device that converts direct current electrical power into mechanical power. The DC motors
that were used in this project were normal cycle motors. These motors operate using 12.53 DC. Thee
motors are perfect in size. In order to operate the process arduino board is responsible for the system's
input and output. Programmed codes are also responsible for the arduino. Arduino is an open source
electronics prototype platform based on flexible easy-to-use hardware and software. An important
feature of using arduino for this project is that it communicates with software running on a smart
phone. The two relays are connected to the outputs of the Arduino Board. The input of the Arduino is
connected to the Bluetooth module to take the orders from the mobile application. Two relays are
connected to one DC motor. The relay makes sense with the help of arduino voltage and run the
wheelchair with desired directions. Android software is connected to Bluetooth Module via Bluetooth
link. Bluetooth module which is connected to arduino receives character data from android application
and transmits those characters to arduino. Arduino in turn is directly connected for its DIRECTION
and BRAKING.
Interfacing a LCD (Liquid Cristal Display) with arduino follows with the connection of RS pin
to digital pin 12, R/W pin to digital pin 11. Digital lines DB4, DB5, DB6 and DB7 are interfaced to
digital pins 5, 4, 3 and 2 of the Arduino. The 10K potentiometer is used for adjusting the contrast of
the display. 560 ohm resistor R1 limits the current through the back light LED. The arduino can be
powered through the external power jack provided on the board. +5V required in some other parts of
the circuit can be tapped from the 5V source on the arduino board. The arduino can be also powered
from the PC through the USB port. The voice is transmitted though a Bluetooth module from android
smart hone. The Bluetooth module is connected to 3.3V pin and GND pin of arduino. Again the TX
pin of Bluetooth pin is connected to RX of arduino and the RX pin of Bluetooth pin is connected to
TX pin of arduino. The character of the voice is transmitted and showed in 16×2 LCD which is
actually maintained by the programmed arduino.
Sonar or ultrasonic sensing uses propagation of acoustic energy at higher frequencies than
normal hearing to extract information from the environment. Sonar use their echoes to measure range
to an object. As the sound speed is known, the object range is proportional to the echo travel time.
Figure 2.1: Sonar ranging principles. (a) Sonar configuration (b) Echo waveform (c) Range dot
placement (d) Sonar map[10]
where c is the sound speed (343m/s at standard temperature and pressure). A sonar map is usually built
by rotating the sensor about the vertical axis, indicated by the orientation angle θ, through a series of
discrete angles separated by Δθ and placing sonar dots the corresponding ranges. [10]
The IR sensor emits light to the surface When the surface is not found or black surface is
detected, it senses because of absorbing the light. Again it will not sense because of reflection of light
when white surface is detected.
IR transmitter and receiver also called photo diodes are used for sending and receiving light. IR
transmits infrared lights. In this project, when infrared rays falls on any surface, it’s reflected back and
caught by photodiode and generates some voltage changes. When IR light falls on black surface, light
is absorbed by the black surface and no rays reflect back, resultantly photo diode doesn't receive any
light or rays.[11] It will not sense either it finds any crack over the surface. As soon as it reaches the
crack, the sensor doesn’t receives the light and the comparator sends logic 0 to the microcontroller for
the left sensor. On getting this condition the microcontroller make the signal for safety.[11] The
sensors are mounted at front end of the chair at middle place. The sensor is designed to detect the light
reflecting from the platform on which it is finding the crack, hole sensors don’t get this light.
Direct incidence
As like IR LED directly in front of the photodiode almost all the radiation emitted, reaches the
photodiode. This creates an invisible line of IR radiation between the IR LED and the photodiode. If
an opaque object is placed obstructing this line, the radiation will not reach the photodiode and will get
either reflected or absorbed by the obstructing object.[12]
Indirect Incidence
Black color absorbs all radiation, the white color reflects all radiation. By placing IR LED and the
photodiode side by side, close together, the radiation from the IR LED will get emitted straight in the
direction to which the IR LED is pointing towards.[12]
Reflective Surface
If the object is reflective then most of the radiation will get reflected by it, and will get incident on the
photodiode[12]
Non-reflective Surface
If the object is non-reflective, (Black or some other dark color), then most of the radiation will get
absorbed by it, and will not become incident on the photodiode.[12]
The PIR sensor has two slots in it. When the sensor is idle, both slots detect the same amount
of IR, the ambient amount radiated from the room or walls or outdoors. When a warm body like a
human or animal passes by, it first intercepts one half of the PIR sensor which makes a positive
differential changes between the two halves. When the warm body leaves the sensing area, the reverse
© Faculty of Engineering, American International University-Bangladesh (AIUB)
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happens, whereby the sensor generates a negative differential change. These change pulses are what is
detected.
Home automation involves introducing a degree of automatic control to certain sectors like
lighting, temperature control, security systems, garage doors, etc. The system would control the
appliances based on its configuration. It can also allow a user to control appliances from a remote
location. These appliances include lights, fans, air conditioners, television sets, security cameras,
2.3 Summary
The theoretical mechanisms have been accumulated to make a bright design of a smart wheelchair.
This wheelchair will provide the people about the simple outlooks because of the accumulation. The
theory ensures about the particular section's mechanism behind the outcomes and the whole process
has been done with the similarity with the theoretical scenarios.
Methodology
3.1 Introduction
This chapter represents the methodology regarding the different parts through this project.
According to our project work and accumulation of the features with the arduino uno is precisely
elaborated in block diagram section. Intelligent wheelchair is build with 3 sum up section. Where a
arduino uno is built up with joining of android control system of wheelchair movement and home
automation, second one is built up with the android control system of voice display and living being
sensing, third one with only obstacle sensing and finally microcontroller based crack sensing method.
Block diagrams of the different features of our project have been attached in this section.
Fig 3.1 : Block diagram of procedure of Android control wheelchair movement and home
automation system
3.2.2 Block Diagram of Voice Commanded LCD Display and Living Being Sensing
Fig 3.2 : Block diagram of procedure of Android control voice directed display and living
being sensing
The use of android application for sending the voice through the android application via connected
Bluetooth which is connected to arduino and to show that as massage LCD display is connected with
coded arduino.
To sense living being the PIR sensor is connected with the arduino and a buzzer module is
connected with the arduino to provide the signal.
IR sensor is connected with a microcontroller to detect the crack and to sense with a signal, a
LED is connected with the microcontroller.
3.3 Methodology
The Android Mobile is used as input. The Application is developed on the Android platform.
When the user touches the virtual button at that time a string is passed that and then transmitted from
the transmission unit to the receiving section through the mobile phone's Bluetooth. It operates on 5V
supply and has clock cycle of 20MHz. Battery of 12.53 V is used to drive the wheelchair.
For forward movement the motors are moved forward. For left movement the left motor is
stopped and right motor in forward direction and for right movement the right motor is stopped and
left motors are moved in forward direction. The speed of motor is controlled by mechanism of PWM.
A connect virtual button is present which is used to connect the Android mobile phone
with the hardware Bluetooth HC-05 for wireless transmission of data.
When the Bluetooth is switched on the application scans the input when the user
touches the virtual button.
If the requirement is forward then all the dc motors are supplied with 5V and moved in
forward directions for linear movement.
If the requirement is to turn left then the left dc motors are stopped and the right dc
motors are supplied with 5V and the wheelchair moves in left direction.
If the requirement is to turn right then the right dc motors are stopped and the left dc
motors are supplied with 5V and the wheelchair moves in right direction.
If the stop virtual button is touched then all the dc motors are stopped.
When the person reaches his/her destination at that time the disconnect virtual button
needs to be touched so that the Bluetooth connection is turned off.
The main mechanism of the project is to develop a LCD display with the message from the
users mobile. While the user sends the message from the mobile, the remote operation is achieved by
any smart-phone/Tablet etc., with Android OS based on voice operation. Several messages are shown
on the LCD which is built in code of arduino. The +5V operates the whole procedure. The Bluetooth
module is responsible to send the input direction through arduino board. The character shows in 16×2
LCD as the voice are taken by the android application.
Obstacles can be defined as objects protruding sufficiently high from the ground or in front of
the patient. The procedure calculates the disparity to find the obstacle or anything indeed. Then it
The mechanism of the crack sensing is depends on IR sensor and programmed microcontroller
Atmega32. Led will glow a view to attracting the user's concentration by sensing any types of crack,
discontinuity or hole. Then there will be change of the IR sensor as a output which will be processed
by the programmed microcontroller. The output of IR sensor is analog. So microcontroller can not
access the generated information of IR sensor. Thus that value will be converted to a digital value
where the digital value is compared with a reference value. If ATmega32 microcontroller found the
reference value lower than output, microcontroller will send any signal. Atmega32 will send signal
when the reference value is greater than output.
PIR has a “motion sensing” mechanism. When any living being walks or comes in front of it
then it finds the characteristics as the PIR sense the heat of blood A continuous light wave radar has
been created by this sensor. A arduino is coded to make sound when a living being found. The code is
also responsible to show the detection message through the mobile application of anrdoid smart phone.
A buzzer module is connected to sense the sound which is connected to arduino.
For too many purposes the home automation feature is needed. In our project works this
section is coded and powered through arduino and operated by android application. The software
sends the signal via Bluetooth module which makes an effect in relay pins thus the load (appliances)
can be controlled.
The methodology of each section generally maintains the device performance and code where
the actual functions and methods of each department satisfies. These device dependent mechanism
have been utilized by the code.
Elaboration of Components
4.1 Introduction
The components used in this project are accumulated as far as possible. The two arduino
boards are adjoined with four different sections of our project.
Arduino uno
Relay
Bluetooth module
Android Application
LCD display
Arduino uno
Bluetooth
LCD display
Arduino uno
Atmega32
IR sensor module
LED
Arduino uno
PIR
Buzzer
Arduino uno
Relay
Bluetooth module
The Arduino Uno is a microcontroller board based on the ATmega328. It has 14digital
input/output pins, 6 analog inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an
ICSP header, and a reset button.
Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB of which 0.5 KB used by boot loader
SRAM 2 KB
EEPROM 1 KB
Clock Speed 16 MHz
In our days, there have been many advancement in the field of Electronics and many cutting
edge technologies are being developed every day, but still 8 bit microcontrollers have its own role in
the digital electronics market dominated by 16-32 & 64 bit digital devices. Although powerful
microcontrollers with higher processing capabilities exist in the market, 8bit microcontrollers still hold
its value because of their easy-to-understand-operation, very much high popularity, ability to simplify
a digital circuit, low cost compared to features offered, addition of many new features in a single IC
and interest of manufacturers and consumers. The features of this microcontroller are-
High-performance
Low-power AVR 8-bit Microcontroller
Static Operation
32 x 8 General Purpose Working Registers
On-chip 2-cycle Multiplier
Non-Volatile Program and Data Memories
Optional Boot Code Section with Independent Lock Bits
1024 Bytes EEPROM
32k Bytes of In-System Self-Programmable Flash
2K Bytes Internal SRAM
On-chip Analog Comparator
Master/Slave SPI Serial Interface
Programmable Watchdog Timer with Separate On-chip Oscillator
8-channel, 10-bit ADC
© Faculty of Engineering, American International University-Bangladesh (AIUB)
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Programmable Serial USART
Internal Calibrated RC Oscillator
32 Programmable I/O Lines
4.5-5.5V for ATmega32
0-16MHz for ATmega32
Power-down Mode: < 1µA
PIN count: Atmega32 has got 40 pins. Two for Power (pin no.10: +5v, pin no. 11: ground),
two for oscillator (pin 12, 13), one for reset (pin 9), three for providing necessary power and
reference voltage to its internal ADC, and 32 (4×8) I/O pins.
About I/O pins: ATmega32 is capable of handling analogue inputs. Port A can be used as
either DIGITAL I/O Lines or each individual pin can be used as a single input channel to the internal
ADC of ATmega32, plus a pair of pins AREF, AVCC & GND together can make an ADC channel.
No pins can perform and serve for two purposes (for an example: Port A pins cannot work as a
Digital I/O pin while the Internal ADC is activated) at the same time.
Digital I/O pins: ATmega32 has 32 pins (4portsx8pins) configurable as Digital I/O pins.
Timers: 3 Inbuilt timer/counters, two 8 bit (timer0, timer2) and one 16 bit (timer1).
ADC: It has one successive approximation type ADC in which total 8 single channels are selectable.
Reference is selectable, either an external reference can be used or the internal 2.56V reference can
be brought into action. There external reference can be connected to the AREF pin.
5 Low to write to the register; High to read from the register Read/write
6 Sends data to data pins when a high to low pulse is given Enable
7 DB0
8-bit data pins
8 DB1
4.3.5 Sonar:
4.3.6 PIR
PIRs are basically made of a pyroelectric sensor which can detect levels of infrared radiation.
Size Rectangular
4.3.7 IR Sensor
An IR sensor is a device which detects IR radiation falling on it. It works in direct, indirect,
reflective and non-reflective surface.
4.4 Summary
For interfacing each component the pin diagrams and other features have been followed to justify the
function. These point to point connections regarding the working principal of every junction of
component are very much responsible behind the achievement of the outcomes.
5.1 Introduction
Simulations are the perfect procedure to know about the belongings whether ideas implies exactly or
not. The Proteus has been used to identify the outcomes before the project work of hardware
implementation.
Fig 5.3: Circuit connection of android control voice input for display
Fig 5.9: Simulation of android control home automation (One load is ON)
Fig 5.10: Circuit connection of android control home automation (Another load is ON)
The simulation parts are done individually to verify the perfection of each destination. To reduce the
cost and keep simplicity we accumulate some parts during hardware implementation.
6.1 Introduction
This section introduces with the individual hardware implementation pictures and other processes. The
operations and achievement through the project work defines via the attached picture of the particular
findings indeed.
Fig 6.3: Connection of android control wheelchair movement and home automation
© Faculty of Engineering, American International University-Bangladesh (AIUB)
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Fig 6.4: Connection of android control wheelchair movement with android application
Fig 6.5: Wheelchair operating the right direction pin through relay
Fig 6.9: Lamp and mobile charging process (AC loads) are controlled by android software
Fig 6.10: Connection of android control voice display and living being sensing
Fig 6.11: Connection of android application for voice command and sending voice to LCD
6.4 Summary
All the hardware results are verified with the fundamental mechanism.
7.1 Discussions
The project shows the real implementation of an android control wheelchair. The main
objective of this study is developing a useable, low cost assistive robotic wheelchair to help physically
disabled persons to make their life independent. In this project we developed a robotic wheelchair with
an in-built programmed Arduino based on ATmega32 microcontroller. By controlling wheelchair, we
also add some additional feature like obstacle sensing, living being detecting, Home appliances
controlling. However, there are still many improvements to be made. In the future more safety features
like laser sensors will have to be implemented and also bring an improvement to the obstacle sensing
Ultrasonic sensor algorithm. These types of sensors have the purpose to shut-down the entire system in
case of imminent collision, but also to avoid obstacles. The entire processes of different methodology
are accumulated. The codes are mentioned in the Appendix part A.
We are hopeful to make some future works that can be done with it to modify it with it's best
outcomes. Some suggestions of the possibilities of future works are given below:
This chair can be developed with the tongue motion driver for the movement of wheelchair.
Beside a heart beat sensing sensor can be set up for better records of the patient. The wheelchair is
used by old aged persons in maximum case. So an artificial injection of insulin machine can be set up
for the diabetic patient which will be too much helpful for the diabetic handicapped people.
The technology can be enhanced by using of caterpillar tracks for the movement through stairs.
Again for the movement in outside this can be added with gear system and electricity consuming
7.3 Conclusions
This bright and innovative design will help for the handicapped person along with reducing the
sophisticated life style of those types of patient. Our job will be too helpful for the users so far. For the
revolution obviously this chair has to be further developed and manufactured. The world will see the
continuous invention with pioneering Excellencies. We strongly believe that "Intelligent Wheelchair
for Handicapped Persons" will be one of them.
[1]R. Simpson, "Smart wheelchairs: A literature review", The Journal of Rehabilitation Research and
Development, vol. 42, no. 4, p. 423, 2005.
[2]Pei Jia, Huosheng H. Hu, Tao Lu, Kui Yuan, (2007) "Head gesture recognition for hands‐free
control of an intelligent wheelchair", Industrial Robot: An International Journal, Vol. 34 Iss: 1, pp.60 –
68
[3]L. Montesano, M. Diaz, S. Bhaskar and J. Minguez, "Towards an Intelligent Wheelchair System for
Users With Cerebral Palsy", IEEE Trans. Neural Syst. Rehabil. Eng., vol. 18, no. 2, pp. 193-202, 2010.
[5]M. Tomari, Y. Kobayashi and Y. Kuno, "Development of Smart Wheelchair System for a User with
Severe Motor Impairment", Procedia Engineering, vol. 41, pp. 538-546, 2012.
[6][Online].Available:
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.98.9672&rep=rep1&type=pdf. Accessed:
Aug. 10, 2016.
[7]R. Cooper, B. Dicianno, B. Brewer, E. LoPresti, D. Ding, R. Simpson, G. Grindle and H. Wang, "A
perspective on intelligent devices and environments in medical rehabilitation", Medical Engineering &
Physics, vol. 30, no. 10, pp. 1387-1398, 2008.
[8]T. Taha, J. Miro and G. Dissanayake, "Wheelchair Driver Assistance and Intention Prediction using
POMDPs", 2007 3rd International Conference on Intelligent Sensors, Sensor Networks and
Information, 2007.
[10]L. Kleeman and R. Kuc, "Sonar Sensing", Springer Handbook of Robotics, pp. 491-519, 2008.
[14]"How PIRs Work | PIR Motion Sensor | Adafruit Learning System", Learn.adafruit.com, 2016.
[Online]. Available: https://learn.adafruit.com/pir-passive-infrared-proximity-motion-sensor/how-pirs-
work. [Accessed: 09- Aug- 2016].
[17]S. Cheppali, "Arduino Boards-Pin mapping - iCircuit", iCircuit, 2014. [Online]. Available:
http://icircuit.net/arduino-boards-pin- mapping/141. [Accessed: 09- Aug- 2016].
[25]"How PIR Sensor Works and How To Use It with Arduino", HowToMechatronics, 2015. [Online].
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with-arduino/. [Accessed: 11- Aug- 2016].
[27]1. PIC, "12V 1-Channel Self-Lock Relay Module for Arduino AVR PIC - Self-Lock Relay
Module - Arduino, 3D Printing, Robotics, Raspberry Pi, Wearable, LED, development
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relay-module-arduino-p-4925.html. [Accessed: 09- Aug- 2016].
CODE
int RELAY1 = 2;
int RELAY2 = 3;
int RELAY3 = 4;
int RELAY4 = 5;
int state;
int flag=0;
int stateStop=0;
void setup() {
pinMode(RELAY1, OUTPUT);
pinMode(RELAY2, OUTPUT);
pinMode(RELAY3, OUTPUT);
pinMode(RELAY4, OUTPUT);
Serial.begin(9600);
void loop() {
state = Serial.read();
flag=0;
if (state == 'A') {
digitalWrite(RELAY1,HIGH);
© Faculty of Engineering, American International University-Bangladesh (AIUB)
62
if(flag == 0){
flag=1;
digitalWrite(RELAY1,LOW);
if(flag == 0){
flag=1;
digitalWrite(RELAY2,HIGH);
if(flag == 0){
flag=1;
digitalWrite(RELAY2,LOW);
if(flag == 0){
flag=1;
digitalWrite(RELAY2,HIGH);
if(flag == 0){
flag=1;
digitalWrite(RELAY2,LOW);
digitalWrite(RELAY1,LOW);
if(flag == 0){
flag=1;
digitalWrite(RELAY3,HIGH);
digitalWrite(RELAY4,HIGH);
if(flag == 0){
flag=1;
digitalWrite(RELAY3,LOW);
digitalWrite(RELAY4,HIGH);
if(flag == 0){
flag=1;
digitalWrite(RELAY3,LOW);
digitalWrite(RELAY4,LOW);
if(flag == 0){
flag=1;
stateStop=0;
digitalWrite(RELAY3,HIGH);
digitalWrite(RELAY4,LOW);
if(flag == 0){
flag=1;
#include <LiquidCrystal.h>
long duration;
void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
void loop() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
distanceCm= duration*0.034/2;
distanceInch = duration*0.0133/2;
lcd.setCursor(0,0);
lcd.print("Distance: ");
lcd.print(distanceCm);
lcd.print(" cm");
delay(10);
lcd.setCursor(0,1);
lcd.print("Distance: ");
lcd.print(distanceInch);
lcd.print(" inch");
delay(10);
int inputPin = 9;
#include <LiquidCrystal.h>
String inData;
void setup() {
lcd.begin(16, 2);
lcd.print("Welcome!");
delay(3000);
lcd.clear();
pinMode(inputPin,INPUT);
pinMode(pinSpeaker, OUTPUT);
Serial.begin(9600);
void loop(){
int i=0;
char commandbuffer[100];
if(Serial.available()){
delay(100);
commandbuffer[i++] = Serial.read();
commandbuffer[i++]='\0';
if(i>0)
Serial.println((char*)commandbuffer);
lcd.print((char*)commandbuffer);
lcd.clear();
val = digitalRead(inputPin);
if (val == HIGH) {
playTone(300, 160);
delay(150);
if (pirState == LOW) {
Serial.println("Motion detected!");
pirState = HIGH;
} else {
playTone(0, 0);
delay(300);
if (pirState == HIGH){
Serial.println("Motion ended!");
pirState = LOW;
duration *= 1000;
long elapsed_time = 0;
digitalWrite(pinSpeaker,HIGH);
delayMicroseconds(period / 2);
digitalWrite(pinSpeaker, LOW);
delayMicroseconds(period / 2);