CHAPTER 1

INTRODUCTION
Wheelchair is a device used by specially disabled people to enhance their personal
mobility. There are many types of wheelchairs available in the market like manual or powered
wheelchair and the choice of wheelchair depends upon the physical and mental ability of the
user. Wheelchair has limitations against architectural barriers on its way. Although as per PWD
(Public Works Department) 1995 act it is mandatory to provide an accessible environment in
every public building but numerous buildings in India are designed without considering
accessibility for specially disabled and wheelchair users. Many urban cities of India have
addressed the problem by providing alternatives for the architectural barriers like providing
ramps, lifts etc. but still a wheelchair user has to negotiate few architectural barriers.

This results in patients staying indoors for prolonged period of time, which is not conducive
to their mental health and physical rehabilitation. As an important mobility assistance device for
aged and physically disabled people, electric-powered wheelchairs have been widely used for
many years. Nowadays, many patients and users utilize EPWs as their primary means of mobility
during indoor and outdoor daily activities. A staircase climbing wheelchair is a device with
wheels that is intended for medical purposes to provide mobility to persons restricted to a sitting
position. In this case, the development of an electric wheelchair that allows them to travel up and
down stairs is very helpful to expand their scope of activities and improve their quality of life.

The modules to be present in the proposed system are,

a. Hand gesture direction recognition.
b. Delta wheels for flat surface as well as for stair climbing.
c. Home automation.

1
1.1 MOTIVATION

Any restriction or lack of ability to perform an activity within the range considered normal for
the human, resulting from impairment is termed as disability. Disability is an important public
health problem especially in India. National Sample Survey Organization (NSSO) survey on
Disability (2002) estimated the disabled population in India as 18.5 million, which is 2.13
percent of the entire population. people with disabilities have been denied fundamental human
and civil rights. People with disabilities have faced hardship when it comes to their civil rights.
Issues range from being denied appropriate education, housing, transportation and more.
Assistive technology includes any piece of equipment or device that helps to increase the
independence of a disabled person. Assistive technology is a term that contains assistive,
adaptive, rehabilitative devices for disabled people. Assistive technology stimulates greater
independence by empowering disabled people to perform tasks.
The wheelchair is topmost used assistive devices for enhancing the personal mobility of
disabled people. A wheelchair is a manually operated or power-driven device designed primarily
for use by an individual with a disability. A manual wheelchair consists of a seat, footrests, two
wheels at the back and two wheels at the front. Thus, the research direction should aims at build
user centered a smart wheel chair considering several disabilities without negotiating the user
comfort. Development of a smart wheelchair is a fruitful research area for many years to come.
Development of Smart wheelchairs offers an opportunity to study new user input methods,
human-robot communication, adaptive or shared control. Smart wheelchair models will be good
test beds for robot control architectures.

2
1.2 PROPOSED SYSTEM

 Here we are using ARM 7 as a controller. It is the heart of the system. Which controls all
the operations here we are interfacing all the component like MEMS SENSOR,
BLUETOOTH MODULE, IR SENSOR, LCD display, RELAY AND LOAD.
 We are controlling the wheel chair using MEMS sensor like fwd, reverse, left, right,
direction.
 All information will be displayed on LCD.
 We are controlling load using Bluetooth module. Home automation will be done using
this project.
 IR sensor used to detect the direction here if in case wheel chair is go in reverse
direction that Time chair will stop automatically.
 Buzzer will beep if wheel chair change it’s direction.

1.3 PROBLEM STATEMENT

DEVELOPMENT OF STAIR CLIMBING SMART WHEELCHAIR WITH

HOME AUTOMATION SYSTEM USING HAND GESTURE

1.4 OBJECTIVES

 To make the device accesible against architectural barriers.

 To make reliable use of wheelchair on flat surface as well as on staircase.
 To make this technology available to every physically impaired people.
 Successfully implementation of given directional inputs.
 To develop a wheelchair that provide mobility to disabled person.
 To develop a wheelchair which detects obstacles using sensors.

3
 CHAPTER 2
LITERATURE SURVEY
We are surrounded by the blessings of modern technologies and smart systems that facilitate
our everyday lives by getting us interacted with the advanced computing systems, automation,
artificial intelligence and so on. The world has seen an outburst of smart devices in the last
decade. To keep a significant contribution to the modern technological use, our proposed model
adds to the growing need of smart systems[4]. In this paper, a design of self-position aligning
chair incorporated with the features of self-parking autonomous robot has been proposed. It
reduces both human efforts and time consumption in the process of furnishing and decorating a
conference room. Experimental results showed that the proposed model is more cost effective
and affordable than the likely systems available till date. This work modernizes our lifestyles by
reducing human efforts, saving time and also by maintaining more decorative working places[2].
Many modern people wants to live a healthy life. More recently, a lot of interest in healthcare
solution or smart phone-based, real-time health management solutions by technological
development. The health management solution in many cases is provided through the bio-signal
measurement and activity level analysis based on the location information[1]. In this study,
sitting posture was based on a real-time implementation of the health care system. Implemented
system analyzes a person's heart activity through the non-constrained bio-signal measurement.
The electrocardiogram measurement is difficult when nonconstrained occurs according to the
change of the posture that occurs during the life. In this case, the smart chair to complement the
ballistocardiogram measurement is additionally possible to utilize the system was
implemented[6].
Many researches have been conducted toward the design of stair climbing and obstacle
traversing robots during the past decade. However, a few successful robots, which can be
adapted as wheelchairs, have been built. Although they are defined as stair climbing robots, their
locomotion is not restricted to stairs, they also overcome obstacles such as curbs, irregular
sidewalks, etc. They can be classified in 3 groups: tracked, wheeled, and leg-robot.

4
An example of wheeled robot is a component with multiple wheels uniformly distributed in the
same plane around a common centre. Wheel cluster typically have two to four wheels. While
using a stair climbing mechanism, the wheels rotate around the central axis of the wheel cluster
and propel the EPW-SC up or down the stairs[8].
This paper describes an indigenously developed wheel chair for physically disabled persons.
The proposed device works based on the Hand Gesture Recognition technique using
Acceleration sensor. Conventional electric powered wheel chairs are usually controlled by
joysticks or head gesture technology which cannot fulfil the needs[7]. Acceleration sensor is
used for the hand gesture recognition and RF (radio frequency) module is used for the smart
wireless controlling. With the change of hand gesture, data is sent wirelessly to the
microcontroller based motor driving circuit to control the movement of the Wheel Chair in five
different modes, namely FRONT, BACK, RIGHT, LEFT and a special locking system to
STAND still at some place. The proposed device is fabricated using components collected from
local market and tested in lab for successful functioning, test results are included in this
paper[10].
The LCSCWC here proposed has a hybrid mechanism called Delta-Wheel which has both
walking and rolling capabilities employing only one motor. The design of the stair climbing
wheelchair chassis maintains similar dimensions of a conventional wheelchair, making possible
their use in indoor environments. Obviously, the weight is higher than a conventional wheelchair
because the additional components such as delta wheels, etc. However it is lighter than other
stair climbing wheelchair models. Delta wheels were chosen instead of tracked and leg-robot,
because are cheaper and demand less restrictive dimensional tolerances, reducing manufacturing
cost. When compared to other stair climbing models, the wheelchair proposed here is able to
move from flat terrain to stairs instantaneously and without additional user commands for
shifting the locomotion systems, and vice-versa. It can climb standard steps in contrast to the
Observer [2].

5
 Summary of Literature Survey
Sr.no Title of the paper Author Key findings
1 Fahim In this paper, a design of self-position aligning
SMART SELF POSITION
ALIGNING CHAIR FOR A
Anzum1, chair incorporated with the features of self-
MODERN CONFERENCE Fahim
ROOM parking autonomous robot has been proposed.
Ahmed2, M.
Shariful It reduces both human efforts and time
Azim3, consumption in the process of furnishing and
Mosaddek
decorating a conference room. Experimental
Hossain,
Shifat results showed that the proposed model is
Zaman, more cost effective and affordable than the
Farhan
likely systems available till date.
Hasib, Sazid
Al Ahsan
In this study, sitting posture was based on a
SMART CHAIR BASED
2 Byeong-Gu real-time implementation of the health care
ON MULTI HEART RATE
Ahn system. Implemented system analyzes a
DETECTION SYSTEM
person's heart activity through the non-
constrained bio-signal measurement. The
electrocardiogram measurement is difficult
when non-constrained occurs according to the
change of the posture that occurs during the
life. In this case, the smart chair to
complement the ballistocardiogram
measurement is additionally possible to utilize
the system was implemented.

The purpose of this article was to provide an

Electric-powered
3 Weijun Tao1, overview of the EPW-SC development for the
wheelchair with stair-
Junyi Xu1 last two decades and to give insight into future
climbing ability
and Tao Liu2
trends. A classification of EPW-SCs was
provided based on an analysis of various stair-

6
 climbing mechanisms. A summary of
advantages and disadvantages was provided
based on the following four aspects: control
method, cost of mechanical manufacture,
energy consumption, and adaption to different
stairs. Lastly, common technologies used to
maintain stability during stair-climbing were
discussed to give insights into their future
direction. Overall, this article is a summary of
the current EPW-SCs and prospective
technology based on research and may be able
to provide insight in the development of more
applicable and popular products.
4 The proposed device works based on the Head
WIRELESS HEAD Shayban Gesture Recognition technique using
GESTURE CONTROLLED
WHEEL CHAIR FOR Nasif Acceleration sensor. Acceleration sensor is
DISABLE PERSONS used for the head gesture recognition and RF
(radio frequency) module is used for the smart
wireless controlling. With the change of head
gesture, data is sent wirelessly to the
microcontroller based motor driving circuit to
control the movement of the Wheel chair.
This system is specially designed for disabled
person who has restricted limb movements
and can hardly move or turn his head only.
5 A low cost stair Luis A.M. This system introduce us to the concept of
climbing wheelchair Riascos delta wheels. Here proposed has a hybrid
mechanism called Delta-Wheel which has
both walking and rolling capabilities
employing only one motor. This delta wheels
are consist of three wheel-leg unit and four

7
 wheel-leg unit. For a low cost solution, belts
were chosen instead planetary gears. It was
possible to validate its design, dynamics, and
functionality.

8
 CHAPTER 3
Block Diagram and Description
3.1.1 Block Diagram:

Figure 3.1 Block diagram

9
3.1.2 Circuit Diagram

Figure 3.2 Circuit Diagram

Above shown is the circuit diagram of microcontroller ARM 7 based wheelchair system.
In this project we develop a smart wheelchair which is helpful to physically disabled person with
his hand gesture recognition using mems sensor. Depending on the direction of hand gesture
,microcontroller controls the wheelchair direction like left, right, forward and backward. Here
proposed system has a hybrid mechanism called Delta-Wheel which has both walking and
rolling capabilities. This system is based on four wheel-leg units, containing three orbital wheels
each.

10
 Here application of above wheelchair system is to give left, right, forward and backward
direction to the wheelchair. Whenever there is a situation where they wish to climb stairs or
move ahead, this wheelchair will efficiently help the user to overcome problems and help them
to do such tasks. It is accomplished by controlling the different input mechanism. The user can
provide desired input to wheelchair and to the designed special wheel mechanism which will
help user to climb the stairs more easily or to move ahead on a straight path thereby overcoming
their problems. In this system we can see simulation output such as direction of movement of a
wheelchair on the LCD display.
It also has obstacle detection system using IR sensors. As soon as obstacle is detected by
the IR sensor it will give indication to the user by buzzer and movement of wheelchair will also
stop.
This system also have the application of the home automation where home appliances are
controlled by the android app. We give input to the Bluetooth module using an android app and
as per input home appliances i.e. load gets controll ON and OFF.

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3.2 Description :

Hardware Requirement:

 ARM 7(LPC2148)
 DC MOTOR
 LCD DISPLAY
 BUZZER
 IR SENSOR
 MEMS SENSORS
 POWER SUPPLY
 BLUETOOTH MODULE
 RELAY MODULE

3.3 Arm 7(LPC2148):

Figure 3.3 ARM 7 (LPC2148) CONTROLLER

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 The LPC2141/42/44/46/48 microcontrollers are based on a 16-bit/32-bit ARM7TDMI-CPU
with real-time emulation and embedded trace support, that combine microcontroller with
embedded high speed flash memory ranging from 32 kB to 512 kB. A 128-bit wide memory
interface and unique accelerator architecture enable 32-bit code execution at the maximum clock
rate. For critical code size applications, the alternative 16-bit Thumb mode reduces code by more
than 30 % with minimal performance penalty. Due to their tiny size and low power consumption,
LPC2141/42/44/46/48 are ideal for applications where miniaturization is a key requirement, such
as access control and point-of-sale. Serial communications interfaces ranging from a USB 2.0
Full-speed device, multiple UARTs, SPI, SSP to I2C-bus and on-chip SRAM of 8 kB up to 40
kB, make these devices very well suited for communication gateways and protocol converters,
soft modems, voice recognition and low end imaging, providing both large buffer size and high
processing power. Various 32-bit timers, single or dual 10-bit ADC(s), 10-bit DAC, PWM
channels and 45 fast GPIO lines with up to nine edge or level sensitive external interrupt pins
make these microcontrollers suitable for industrial control and medical systems.

3.3.1 Features:
 16-bit/32-bit ARM7TDMI-S microcontroller in a tiny LQFP64 package.
 8 kB to 40 kB of on-chip static RAM and 32 kB to 512 kB of on-chip flash memory.
 128-bit wide interface/accelerator enables high-speed 60 MHz operation.
 EmbeddedICE RT and Embedded Trace interfaces offer real-time debugging with the
 On-chip Real Monitor software and high-speed tracing of instruction execution.
 USB 2.0 Full-speed compliant device controller with 2 kB of endpoint RAM.
 In addition, the LPC2146/48 provides 8 kB of on-chip RAM accessible to USB by DMA.
 One or two (LPC2141/42 vs. LPC2144/46/48) 10-bit ADCs provide a total of 6/14
 analog inputs, with conversion times as low as 2.44 μs per channel.
 Single 10-bit DAC provides variable analog output (LPC2142/44/46/48 only).
 Two 32-bit timers/external event counters (with four capture and four compare
 Channels each), PWM unit (six outputs) and watchdog.
 Multiple serial interfaces including two UARTs (16C550), two Fast I2C-bus (400 kbit/s),
 Vectored Interrupt Controller (VIC) with configurable priorities and vector addresses.
 Up to 45 of 5 V tolerant fast general purpose I/O pins in a tiny LQFP64 package.
 Up to 21 external interrupt pins available.

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3.3.2 10-bit ADC:
The LPC2141/42 contains one and the LPC2144/46/48 contains two analog to digital
converters. These converters are single 10-bit successive approximation analog to digital
converters. While ADC0 has six channels, ADC1 has eight channels. Therefore, total number of
available ADC inputs for LPC2141/42 is 6 and for LPC2144/46/48 is 14. The LPC2141/42
contains one and the LPC2144/46/48 contains two analog to digital converters. These converters
are single 10-bit successive approximation analog to digital converters. While ADC0 has six
channels, ADC1 has eight channels. Therefore, total number of available ADC inputs for
LPC2141/42 is 6 and for LPC2144/46/48 is 14.

3.3.3 10-bit DAC:

The DAC enables the LPC2141/42/44/46/48 to generate a variable analog output. The
maximum DAC output voltage is the VREF voltage.

3.3.4 UARTs:
The LPC2141/42/44/46/48 each contains two UARTs. In addition to standard transmit and
receive data lines, the LPC2144/46/48 UART1 also provide a full modem control handshake
interface. Compared to previous LPC2000 microcontrollers, UARTs in LPC2141/42/44/46/48
introduce a fractional baud rate generator for both UARTs, enabling these microcontrollers to
achieve standard baudrates such as 115200 with any crystal frequency above 2 MHz. In addition,
auto-CTS/RTS flow-control functions are fully implemented in hardware (UART1 in
LPC2144/46/48 only).
UART 1:
UART1 is identical to UART0, with the addition of a modem interface.
• 16 byte Receive and Transmit FIFOs
• Register locations conform to ‘550 industry standard.
• Receiver FIFO trigger points at 1, 4, 8, and 14 bytes.
• Built-in fractional baud rate generator with autobauding capabilities.
• Mechanism that enables software and hardware flow control implementation.

14
3.4 LCD (Liquid Crystal Display):
LCD stands for Liquid Crystal Display. LCD is finding wide spread use replacing LEDs
(seven segment LEDs or other multi segment LEDs) because of the following reasons:
LCD (Liquid Crystal Display) screen is an electronic display module and find a wide
range of applications. A 16x2 LCD display is very basic module and is very commonly used in
various devices and circuits. ... A 16x2 LCD means it can display 16 characters per line and
there are 2 such lines.

Figure 3.4.LCD

A model described here is for its low price and great possibilities most frequently used in
practice. It is based on the HD44780 microcontroller (Hitachi) and can display messages in two
lines with 16 characters each. It displays all the alphabets, Greek letters, punctuation marks,
mathematical symbols etc. In addition, it is possible to display symbols that user makes up on its
own. Automatic shifting message on display (shift left and right), appearance of the pointer,
backlight etc. are considered as useful characteristics.

3.4.1 Features:

 High quality STN 16x2 character LCD

 3.3V power supply
 White LED Blacklight
 ST7066 controller
 1/16 duty cycle
 Diamensions : 0.34 x 1.4 x 3.2”(8.6 x 36 x 80mm)

15
3.5 DC Geared Motors:
A DC motor is an electric motor that runs on direct current (DC) electricity. Figure shows
schematically the different methods of connecting the field and armature circuits in a DC Motor.
The circular symbol represents the armature circuit, and the squares at the side of the circle
represent the brush commutator system. The direction of the arrows indicates the direction of
the magnetic fields.

Figure 3.5.DC Motor Connection

3.5.1 Theory of DC Motor:

The speed of a DC motor is directly proportional to the supply voltage, so if we reduce the
supply voltage from 12 Volts to 6 Volts, the motor will run at half the speed. How can this be
achieved when the battery is fixed at 12 Volts? The speed controller works by varying the
average voltage sent to the motor. It could do this by simply adjusting the voltage sent to the
motor, but this is quite inefficient to do. A better way is to switch the motor's supply on and off
very quickly. If the switching is fast enough, the motor doesn't notice it, it only notices the
average effect.
Now imagine a light bulb with a switch. When you close the switch, the bulb goes on and is
at full brightness, say 100 Watts. When you open the switch it goes off (0 Watts). Now if you
close the switch for a fraction of a second, then open it for the same amount of time, the filament
won't have time to cool down and heat up, and you will just get an average glow of 50 Watts.

16
This is how lamp dimmers work, and the same principle is used by speed controllers to drive a
motor. When the switch is closed, the motor sees 12 Volts, and when it is open it sees 0 Volts. If
the switch is open for the same amount of time as it is closed, the motor will see an average of 6
Volts, and will run more slowly accordingly. The graph below shows the speed of a motor that is
being turned on and off.

3.5.2 Principle of operation:

In any electric motor, operation is based on simple electromagnetism. A current-carrying
conductor generates a magnetic field; when this is then placed in an external magnetic field, it
will experience a force proportional to the current in the conductor, and to the strength of the
external magnetic field. As you are well aware of from playing with magnets as a kid, opposite
(North and South) polarities attract, while like polarities (North and North, South and South)
repel. The internal configuration of a DC motor is designed to harness the magnetic interaction
between a current-carrying conductor and an external magnetic field to generate rotational
motion.
Let's start by looking at a simple 2-pole DC electric motor (here red represents a magnet or
winding with a "North" polarization, while green represents a magnet or winding with a "South"
polarization).

Fig. a

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator, commutator,
field magnet(s), and brushes. In most common DC motors (and all that Beamers will see), the
external magnetic field is produced by high-strength permanent magnets. The stator is the
stationary part of the motor -- this includes the motor casing, as well as two or more
permanent magnet pole pieces. The rotor (together with the axle and attached commutator)

17
rotates with respect to the stator. The rotor consists of windings (generally on a core), the
windings being electrically connected to the commutator. The above diagram shows a common
motor layout -- with the rotor inside the stator (field) magnets.
The geometry of the brushes, commutator contacts, and rotor windings are such that
when power is applied, the polarities of the energized winding and the stator magnet(s) are
misaligned, and the rotor will rotate until it is almost aligned with the stator's field magnets. As
the rotor reaches alignment, the brushes move to the next commutator contacts, and energize
the next winding. Given our example two-pole motor, the rotation reverses the direction of
current through the rotor winding, leading to a "flip" of the rotor's magnetic field, driving it to
continue rotating.
In real life, though, DC motors will always have more than two poles (three is a very common
number). In particular, this avoids "dead spots" in the commutator. You can imagine how with
our example two-pole motor, if the rotor is exactly at the middle of its rotation (perfectly
aligned with the field magnets), it will get "stuck" there. Meanwhile, with a two-pole motor,
there is a moment where the commutator shorts out the power supply (i.e., both brushes touch
both commutator contacts simultaneously). This would be bad for the power supply, waste
energy, and damage motor components as well. Yet another disadvantage of such a simple
motor is that it would exhibit a high amount of torque "ripple" (the amount of torque it could
produce is cyclic with the position of the rotor).

Fig b

So since most small DC motors are of a three-pole design, let's tinker with the workings of one
via an interactive animation.

18
 Fig .c

You'll notice a few things from this -- namely, one pole is fully energized at a time (but two
others are "partially" energized). As each brush transitions from one commutator contact to the
next, one coil's field will rapidly collapse, as the next coil's field will rapidly charge up (this
occurs within a few microsecond). We'll see more about the effects of this later, but in the
meantime you can see that this is a direct result of the coil windings' series wiring:

Fig. d

The use of an iron core armature (as in the Mabuchi, above) is quite common, and has a
number of advantages. First off, the iron core provides a strong, rigid support for the windings a
particularly important consideration for high-torque motors. The core also conducts heat away
from the rotor windings, allowing the motor to be driven harder than might otherwise be the
case. Iron core construction is also relatively inexpensive compared with other construction
types.
But iron core construction also has several disadvantages. The iron armature has a
relatively high inertia which limits motor acceleration. This construction also results in high
winding inductances which limit brush and commutator life.

19
 In small motors, an alternative design is often used which features a 'coreless' armature
winding. This design depends upon the coil wire itself for structural integrity. As a result, the
armature is hollow, and the permanent magnet can be mounted inside the rotor coil. Coreless
DC motors have much lower armature inductance than iron-core motors of comparable size,
extending brush and commutator life.

3.5.3 DC motor behavior:

High-speed output
This is the simplest trait to understand and treat -- most DC motors run at very high output
speeds (generally thousands or tens of thousands of RPM). While this is fine for some BEAM
bots (say, photo poppers or solar rollers), many BEAM bots (walkers, heads) require lower
speeds -- you must put gears on your DC motor's output for these applications.

3.6 H-BRIDGE:
An H-bridge is an electronic circuit which enables DC electric motors to be run forwards or
backwards. These circuits are often used in robotics. H-bridges are available as integrated
circuits, or can be built from discrete components.

Figure 3.6 H-Bridge circuit

The two basic states of a H-bridge. The term "H-bridge" is derived from the typical
graphical representation of such a circuit. An H-bridge is built with four switches (solid-state or
mechanical). When the switches S1 and S4 (according to the first figure) are closed (and S2 and
S3 are open) a positive voltage will be applied across the motor. By opening S1 and S4 switches
and closing S2 and S3 switches, this voltage is reversed, allowing reverse operation of the motor.

20
 Using the nomenclature above, the switches S1 and S2 should never be closed at the same
time, as this would cause a short circuit on the input voltage source. The same applies to the
switches S3 and S4. This condition is known as shoot-through.

3.6.1 Operation:
The H-Bridge arrangement is generally used to reverse the polarity of the motor, but can also be
used to 'brake' the motor, where the motor comes to a sudden stop, as the motors terminals are
shorted, or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the
circuit. The following table summarizes operation.
Table 3.6.1: H-bridge operation

S1 S2 S3 S4 Result

1 0 0 1 Motor moves right

0 1 1 0 Motor moves left

0 0 0 0 Motor free runs

0 1 0 1 Motor brakes

3.6.2H-Bridge Driver:
The switching property of this H-Bridge can be replace by a Transistor or a Relay or a Mosfet or
even by an IC. Here we are replacing this with an IC named L293D as the driver whose
description is as given below.

3.6.3 Features:
 600mA OUTPUT CURRENT CAPABILITY
 PER CHANNEL

21
  1.2A PEAK OUTPUT CURRENT (non repetitive)
 PER CHANNEL
 ENABLE FACILITY
 OVERTEMPERATURE PROTECTION
 LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V
 (HIGH NOISE IMMUNITY)
 INTERNAL CLAMP DIODES

3.6.4 Description:
The Device is a monolithic integrated high voltage, high current four channel driver designed to
accept standard DTL or TTL logic levels and drive inductive loads (such as relays solenoides,
DC and stepping motors) and switching power transistors. To simplify use as two bridges each
pair of channels is equipped with an enable input. A separate supply input is provided for the
logic, allowing operation at a lower voltage and internal clamp diodes are included. This device
is suitable for use in switching applications at frequencies up to 5 kHz. The L293D is assembled
in a 16 lead plastic packaage which has 4 center pins connected together and used for heatsinking
The L293DD is assembled in a 20 lead surface mount which has 8 center pins connected
together and used for heatsinking.

3.6.5 Circuit Diagram:

Figure 3.7 Circuit Diagram of H-Bridge

22
 fig 3.8 Pin Diagram

3.7 BUZZER:
A buzzer or beeper is an audio signaling device, which may be mechanical, electromechanical,
or piezoelectric. Typical uses of buzzers and beepers include alarm devices, timers and
confirmation of user input such as a mouse click or keystroke. The first electric buzzer was
invented in 1831 by Joseph Henry. They were mainly used in early doorbells until they were
phased out in the early 1930s in favor of musical chimes, which had a softer tone. This
advancement mainly came about because of cooperative efforts by Japanese manufacturing
companies. In 1951, they established the Barium Titanate Application Research Committee,
which allowed the companies to be "competitively cooperative" and bring about several
piezoelectric innovations and inventions.

Figure 3.9Buzzer

23
3.8 POWER SUPPLY BLOCK DIAGRAM DESCRIPTION

3.8.1 Transformer:
A transformer is a device that transfers electrical energy from one circuit to another through
inductively coupled conductors—the transformer's coils. A varying current in the first or primary
winding creates a varying magnetic flux in the transformer's core, and thus a varying magnetic
field through the secondary winding. This varying magnetic field induces a varying
electromotive force (EMF) or "voltage" in the secondary winding. This effect is called mutual
induction. Transformers can increase voltage (step-up) as well as reduce voltage (step-down).

Figure :3.10 Symbol

Figure: 3.11 Transformer Symbol

3.8.1.1 Classification of Transformer

i] Step-Up Transformer

ii] Step-Down Transformer

24
i] Step-Down Transformer

Step down transformers are designed to reduce electrical voltage. Their primary voltage is
greater than their secondary voltage. This kind of transformer "steps down" the voltage applied
to it. For instance, a step down transformer is needed to use a 110v product in a country with a
220v supply.

Figure:3.12 Step-Down Transformer

An example of this would be: 100 turns on the primary and 50 turns on the secondary, a ratio of
2 to 1.

ii] Step-Up Transformer

A step up transformer has more turns of wire on the secondary coil, which makes a larger
induced voltage in the secondary coil. It is called a step up transformer because the voltage
output is larger than the voltage input.

Step-up transformer 110v 220v design is one whose secondary voltage is greater than its primary
voltage. This kind of transformer "steps up" the voltage applied to it. For instance, a step up
transformer is needed to use a 220v product in a country with a 110v supply.

A step up transformer 110v 220v converts alternating current (AC) from one voltage to another
voltage. It has no moving parts and works on a magnetic induction principle; it can be designed
to "step-up" or "step-down" voltage. So a step up transformer increases the voltage and a step
down transformer decreases the voltage.

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 Figure:3.13 Step-Up Transformer

3.8.1.2 Applications:
Generally these Step-Up Transformers are used in industries applications only. Most mains
transformers have two separate secondary coils (e.g. labeled 0-9V, 0-9V) which may be used
separately to give two independent supplies, or connected in series to create a centre-tapped coil
or one coil with double the voltage.
Some mains transformers have a centre-tap halfway through the secondary coil and they are
labeled 9-0-9V for example. They can be used to produce full-wave rectified DC with just two
diodes, unlike a standard secondary coil which requires four diodes to produce full-wave
rectified DC.

3.8.2 Rectifier
The purpose of a rectifier is to convert an AC waveform into a DC waveform (OR) Rectifier
converts AC current or voltages into DC current or voltage. There are two different rectification
circuits, known as 'half-wave' and 'full-wave' rectifiers. Both use components called diodes to
convert AC into DC.

3.8.2.1 The Half-wave Rectifier

The half-wave rectifier is the simplest type of rectifier since it only uses one diode, as shown
figure.

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 Fig 3.14 Half-Wave Rectifier

Figure a: Full-Wave Rectification waveform

3.8.2.2 The Full-wave Rectifier

The circuit in figure 3 addresses the second of these problems since at no time is the output
voltage 0V. This time four diodes are arranged so that both the positive and negative parts of the
AC waveform are converted to DC. The resulting waveform is shown in figure 4.

Fig 3.15: Full-Wave Rectifier

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 Figure b: Full-Wave Rectification waveform

When the AC input is positive, diodes A and B are forward-biased, while diodes C and D are
reverse-biased. When the AC input is negative, the opposite is true - diodes C and D are
forward-biased, while diodes A and B are reverse-biased. While the full-wave rectifier is an
improvement on the half-wave rectifier, its output still isn't suitable as a power supply for most
circuits since the output voltage still varies between 0V and Vs-1.4V. So, if you put 12V AC in,
you will 10.6V DC out.

3.8.3 Capacitor Filter

The capacitor-input filter, also called "Pi" filter due to its shape that looks like the Greek
letterpi, is a type of electronic filter. Filter circuits are used to remove unwanted or undesired
frequencies from a signal.

Figure:3.16 Capacitor Filter

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A typical capacitor input filter consists of a filter capacitor C1, connected across the rectifier
output, an inductor L, in series and another filter capacitor connected across the load.
1. The capacitor C1 offers low reactance to the AC component of the rectifier output while
it offers infinite reactance to the DC component. As a result the capacitor shunts an
appreciable amount of the AC component while the DC component continues its journey
to the inductor L
2. The inductor L offers high reactance to the AC component but it offers almost zero
reactance to the DC component. As a result the DC component flows through the
inductor while the AC component is blocked.
3. The capacitor C2 bypasses the AC component which the inductor had failed to block. As
a result only the DC component appears across the load RL.

3.8.4 Voltage Regulator

A voltage regulator is an electrical regulator designed to automatically maintain a constant
voltage level. It may use an electromechanical mechanism, or passive or active electronic
components. Depending on the design, it may be used to regulate one or more AC or DC
voltages. There are two types of regulator are they.
Positive Voltage Series (78xx) and Negative Voltage Series (79xx)
78xx: ‘78’ indicate the positive series and ‘xx’ indicates the voltage rating. Suppose 7805
produces the maximum 5V. ‘05’indicates the regulator output is 5V.
79xx: ‘78’ indicate the negative series and ‘xx’ indicates the voltage rating. Suppose 7905
produces the maximum -5V. ‘05’indicates the regulator output is -5V.
These regulators consists the three pins there are
Pin1: It is used for input pin.
Pin2: This is ground pin for regulator
Pin3: It is used for output pin. Through this pin we get the output.

Fig 3.17 Regulator

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 Fig3.18: power supply circuit diagram

3.9 MEMS Sensor

Fig 3.19: MEMS Sensor

Above fig shows micro electro mechanical systems and the related micro mecha tronics is
the technology of microscopic devices, particularly those with moving parts. MEMS are made up
of components between 1 and 100 micro metres in size (i.e. 0.001 to 0.1 mm), and MEMS
devices generally range in size from 20 micro metres to a milli metre (i.e. 0.02 to 1.0 mm). They
usually consist of a central unit that processes data (the microprocessor) and several components
that interact with the surroundings such as micro sensors.

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 The main idea behind this technology is to use some of the basic mechanical devices like
cantilevers and membranes to have the same qualities of electronic circuits. To obtain such a
concept, micro-fabrication process must be carried out. Though an electronic process is carried
out, an MEMS device cannot be called as an electronic circuit. MEMS duplicate a mechanical
part and have holes, cantilevers, membranes, channels, and so on. But an electronic circuit has a
firm and compact structure. To make MEMS from silicon process, the manufacturer must have a
deep knowledge in electronics, mechanical and also about the materials used for the process.

3.9.1 MEMS Accelerometer

An accelerometer is an electromechanical device that is used to measure acceleration and

the force producing it. Many types of accelerometers are available in the market today. They can
be divided according to the force (static or dynamic) that is to be measured. Even today, one of
the most commonly used one is the piezoelectric accelerometer. But, since they are bulky and
cannot be used for all operations, a smaller and highly functional device like the MEMS
accelerometer was developed. Though the first of its kind was developed 25 years ago, it was not
accepted until lately, when there was need for large volume industrial applications. Due to its
small size and robust sensing feature, they are further developed to obtain multi-axis sensing.

3.9.2 Advantages
i. MEMS device are very small and can be applicable for many mechanical purposes where
large measurements are needed.
ii. The small size of the device has also helped in reducing its cost.
iii. If two or three different devices are needed to deploy a particular process, all of them can
be easily integrated in an MEMS chip with the help of microelectronics. Thus, data
reception, filtering, storing, transfer, interfacing, and all other processes can be carried
out with a single chip.

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3.10 IR Sensors
Infrared sensors can be passive or active. Passive infrared sensors are basically Infrared
detectors.
Passive infrared sensors do not use any infrared source and detects energy emitted by obstacles
in the field of view.
They are of two types: a] Thermal b] Quantum
a] Thermal: Thermal infrared sensors use infrared energy as the source of heat and are
independent of wavelength. Thermocouples, pyroelectric detectors and bolometers are the
common types of thermal infrared detectors.
b] Quantum: Quantum type infrared detectors offer higher detection performance and are
faster than thermal type infrared detectors. The photosensitivity of quantum type detectors is
wavelength dependent. Quantum type detectors are further classified into two types: intrinsic and
extrinsic types. Intrinsic type quantum detectors are photoconductive cells and photovoltaic cells.

Active infrared sensors consist of two elements: a] Infrared source b] Infrared detector.
a] Infrared source: Infrared sources include an LED or infrared laser diode.
b] Infrared detector: Infrared detectors include photodiodes or phototransistors. The energy
emitted by the infrared source is reflected by an object and falls on the infrared detector.

Fig 3.20 IR Sensor

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3.10.1 IR Transmitter

Infrared Transmitter is a light emitting diode (LED) which emits infrared radiations. Hence, they
are called IR LED’s. Even though an IR LED looks like a normal LED, the radiation emitted by
it is invisible to the human eye. The picture of a typical Infrared LED is shown below.

Fig a IR LED

There are different types of infrared transmitters depending on their wavelengths, output power
and response time.A simple infrared transmitter can be constructed using an infrared LED, a
current limiting resistor and a power supply.
IR transmitters can be found in several applications. Some applications require infrared heat and
the best infrared source is infrared transmitter. When infrared emitters are used with Quartz,
solar cells can be made.

3.10.2 IR Receiver
Infrared receivers are also called as infrared sensors as they detect the radiation from an IR
transmitter. IR receivers come in the form of photodiodes and phototransistors. Infrared
Photodiodes are different from normal photo diodes as they detect only infrared radiation. The
picture of a typical IR receiver or a photodiode is shown below.

Fig b IR receiver
Different types of IR receivers exist based on the wavelength, voltage, package, etc. When
used in an infrared transmitter – receiver combination, the wavelength of the receiver should
match with that of the transmitter.

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It consists of an IR phototransistor, a diode, a MOSFET, a potentiometer and an LED. When the
phototransistor receives any infrared radiation, current flows through it and MOSFET turns on.
This in turn lights up the LED which acts as a load. The potentiometer is used to control the
sensitivity of the phototransistor.

Fig c IR sensor circuit diagram

3.10.3 Principle of Working

The principle of an IR sensor working as an Object Detection Sensor can be explained using

the following figure. An IR sensor consists of an IR LED and an IR Photodiode; together they

are called as Photo – Coupler or Opto – Coupler.

Fig d IR sensor principle of working

When the IR transmitter emits radiation, it reaches the object and some of the radiation reflects
back to the IR receiver. Based on the intensity of the reception by the IR receiver, the output of
the sensor is defined.

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Obstacle Sensing Circuit or IR Sensor Circuit: IR LED emits infrared light. The
Photodiode detects the infrared light. An IC Op – Amp is used as a voltage comparator. The
potentiometer is used to calibrate the output of the sensor according to the requirement.

When the light emitted by the IR LED is incident on the photodiode after hitting an object, the
resistance of the photodiode falls down from a huge value. One of the input of the op – amp is at
threshold value set by the potentiometer. The other input to the op-amp is from the photodiode’s
series resistor. When the incident radiation is more on the photodiode, the voltage drop across
the series resistor will be high. In the IC, both the threshold voltage and the voltage across the
series resistor are compared. If the voltage across the resistor series to photodiode is greater than
that of the threshold voltage, the output of the IC Op – Amp is high. As the output of the IC is
connected to an LED, it lightens up. The threshold voltage can be adjusted by adjusting the
potentiometer depending on the environmental conditions.

The positioning of the IR LED and the IR Receiver is an important factor. When the IR LED is
held directly in front of the IR receiver, this setup is called Direct Incidence. In this case, almost
the entire radiation from the IR LED will fall on the IR receiver. Hence there is a line of sight
communication between the infrared transmitter and the receiver. If an object falls in this line, it
obstructs the radiation from reaching the receiver either by reflecting the radiation or absorbing
the radiation.

Fig e IR sensor principle of working

The positioning and enclosing of the IR transmitter and Receiver is very important. Both the
transmitter and the receiver must be placed at a certain angle, so that the detection of an object
happens properly. This angle is the directivity of the sensor which is +/- 45 degrees.

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The directivity is shown below.

Fig f IR sensor principle of working

3.11 Relay Module:

A relay is an electrically operated switch. Many relays use an electromagnet to
mechanically operate a switch, but other operating principles are also used, such as solid-state
relays. Relays are used where it is necessary to control a circuit by a low-power signal (with
complete electrical isolation between control and controlled circuits), or where several circuits
must be controlled by one signal.

Fig 3.21 Relay wiring diagram

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 A type of relay that can handle the high power required to directly control an electric
motor or other loads is called a contactor. Relays with calibrated operating characteristics and
sometimes multiple operating coils are used to protect electrical circuits from overload or faults;
in modern electric power systems these functions are performed by digital instruments still called
"protective relays".

3.12 Bluetooth module:

HC-05 embedded Bluetooth serial communication module (can be short for module) has
two work modes: order-response work mode and automatic connection work mode. And there
are three work roles (Master, Slave and Loopback) at the automatic connection work mode.
When the module is at the automatic connection work mode, it will follow the default way set
lastly to transmit the data automatically.The work mode of module can be switched by
controlling the module PIN (PIO11) input level. Serial module PINs: 1. PIO8 connects with
LED. When the module is power on, LED will flicker. And the flicker style will indicate which
work mode is in using since different mode has different flicker time interval. 2. PIO9 connects
with LED. It indicates whether the connection is built or not. When the Bluetooth serial is paired,
the LED will be turned on. It means the connection is built successfully. 3. PIO11 is the work
mode switch. When this PIN port is input high level, the work mode will become order-response
work mode. While this PIN port is input low level or suspended in air, the work mode will
become automatic connection work mode. 4. The module can be reset if it is re-powered since
there is a reset circuit at the module.

Fig 3.22s HC-05 Bluetooth Module

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 HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed
for transparent wireless serial connection setup. This serial port bluetooth module is fully
qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete
2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04‐External single chip Bluetooth
system with CMOS technology and with AFH (Adaptive Frequency Hopping Feature).

3.13 Android App:

The wireless-networking standard technology called Bluetooth has quietly become a
common way to replace the wires on short distances. With a gadget such as a smartphone or a
tablet featured with a Bluetooth module, a wireless connection is the easiest way to send and
receive information.
In this article, we explore a series of materials and resources so you can learn how to develop an
Android application and control a robot wirelessly over the Bluetooth technology at the flick of a
wrist. An Android device has Java support, built-in Bluetooth module and a large variety of
sensors. All of these features classify an Android smartphone or tablet as the perfect tool to
control a robot over a Bluetooth connection remotely.

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 CHAPTER 4

SPECIFICATIONS
4.1 Advantages:
 Ability to mount himself/herself on this powered wheel chair.
 Height and the level of the seat can be maintained by the person himself.
 Maintain the speed of this powered wheel chair in accordance to the needs.
 Low cost
 Easy to operate
 No need extra power

4.2 Applications:
 Patient in the hospital.
 Physically challenged people
 People at old age homes can use this wheelchair as per their requirements.

4.3 Conclusion:
Design and develop of automatic wheel chair is successfully implemented. A power-
assist automatic wheelchair prototype that effectively meets the various transportation
needs of individuals with physical disabilities has been designed, manufactured, and tested.
Intricate design detail and execution resulted in a visually simplistic design that
promotes low cost and low maintenance. The modular aspect of the components allows
the system to be retrofit to automatic wheelchairs with only minimal modifications.

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REFERENCES
[1] Sumit Desai, Dr. S. S. Mantha, Dr. V.M. Phalle “Advances in Smart Wheelchair
Technology” 2017 International Conference on Nascent Technologies in the Engineering Field
(ICNTE-2017)
[2] Luis A.M. Riascos “A low cost stair climbing wheelchair” 2015 IEEE
[3] Deepesh K Rathore, Pulkit Srivastava, Sankalp Pandey, Sudhanshu Jaiswal “A Novel
Multipurpose Smart Wheelchair” 2014 IEEE Students’ Conference on Electrical, Electronics and
Computer Science.
[4] Richard Simpson et. al., “A prototype power assist wheelchair that provides for obstacle
detection and avoidance for those with visual impairments”Journal of NeuroEngineering and
Rehabilitation, 2005.
[5] Sumedh Kulkarni, Beena Ballal, Harshit Vaishya, Yash Mehta, Pranav Mokal “Staircase
Climbing Smart Wheelchair” International Conference on Electronics, Communication and
Aerospace Technology ICECA 2017
[6]Mihankhah, E.; Kalantari, A.; Aboosaeedan, E.; Taghirad , H.D.; Moosavian, A. Autonomous
Staircase Detection and Stair Climbing for a Tracked Mobile Robot using Fuzzy Controller.
Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, 2009.
[7]Moore, E.Z.; Campbell, D.; Grimminger, F.; Buehler, M. Reliable Stair Climbing in the
Simple Hexapod ‘RHex’. Proceedings of the 2002 IEEE International Conference on Robotics &
Automation, 2002.
[8] Weijun Tao, Junyi Xu and Tao Liu “Electric-powered wheelchair with stair-climbing ability”
International Journal of Advanced Robotic Systems July-August 2017
[9] S. Zhou, Q. Shan, F. Fei, W. J. Li, C. P. Kwong, and C. K. Wu et al (2009)., “Gesture
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Nano /Micro Engineered and Molecular Systems, pp. 935–940.
[10] P. Norek, M. Ahmed, et al, “Livelihood Challenges for Extremely Poor Disabled People in
the Southwest Costal Region of Bangladesh”, Shiree working paper 12, January 2013.

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