CHAPTER 1

INTRODUCTION

1.1 BACKGROUND STUDY

Vehicle health care is highly motivated for both owners and users of vehicles. It will make
much trouble if the vehicle suddenly breakdown while you are driving either in a long journey
or not, or even if you are in an emergency situation. Many of the drivers in the world are do
not pay attention of the important of their vehicle.

Nowadays, all types of vehicle already have an Electronic Control Unit (ECU) installed
inside the main engine component system. The ECU is an electronic unit that serves as a
controller for a number of sensors and the actuators that are installed on the internal combustion
engine of your vehicle. It is also to record and interpret the sensor readings from various sensors
and using the data to control different functions of the engine system. The ECU controls many
other sub systems of the engine such as, for example, the antilocking braking system (ABS).
All decisions made by the ECU are based on the sensors that are placed in the vehicle primarily
around the engine bay at various places.

1
 One of the method for us to access the ECU is by using On Board Diagnostic (OBD)
system. The device On-Board-Diagnostics (OBD) II standard that is implemented on all
vehicles post-1996 production. On Board Diagnostic adapter usually can be found under the
dashboard on the driver side. OBD will be use when we are cannot found the fault of the
vehicle. For example when the engine indicator light in yellow colour in the speed meter is
suddenly turn on when driving. Vehicle engine system are very complicated to understand each
of them. Sometimes a mechanic needs to try and error each of the component to find the real
problem which is will take a very long time to realize what is the real problem.

By using OBD system, the OBD can connect to the ECU easily and read what is the
real fault. The OBD can read the all ECU decision in real time. The service charge of OBD
system in workshop will cost at higher price even it is very simple to use. Here is the project
when we can make our own OBD system by using freematics for the driver to analyze any time
of their vehicle health. The modern vehicle's on-board-diagnostics (OBD-II) provides a repair
technician with access to information for various vehicle sub-systems. With the introduction
of more economical and user friendly scanning devices, it is now practical for almost anyone
to access OBD-II signals and use them for their own testing and repairs. This project will allow
the OBD-II Scanner runs on is then connected to this chip over a serial interface. This project
allows the user to monitor any sensors available on the vehicle, obtain diagnostic data when an
error occurs as well as providing other useful functionality such as speed tests, fuel level and
etc.

With Freematics One Plus, all the OBD system can be read real time with using Internet
of Things (IOT). By using IoT user can read their vehicle health by using common electronic
devices such as laptop and smart phone. Laptop user can access this IoT of OBD by using GUI
generate by them while smart phone user can develop their own apps like Blynk. This IoT is
actually can use by some transportation company to monitor all their vehicle in services to
avoid breakdown problem while on services. The IoT in the Freematics One Plus can use either
Bluetooth or Wifi connection to extract all the data from the vehicle through the OBD devices.

2
1.2 LITERATURE REVIEW

From the previous research, by P.R. Burje et al[1] from Department of Electronics and
Telecommunication, SKN College of Engineering, Pandharpur, India has carried the research
about Embedded On-Board Diagnostics System using CAN Network. The research is about
Embedded on-board diagnostics system consists of masterslave communication implemented
through CAN protocol. For both master and slave controller PIC18 microcontroller from PIC
8-bit family is used. PIC18 is having up to 32 Kbytes program flash memory, 10bit ADC with
up to 8 channels and Enhanced CAN module. Engine parameters are monitored using on-board
diagnosis and off-board diagnosis. The diagnostics tool designed for various parameter
monitoring and their fault detection which is a real time application. One of the useful features
of CAN protocol in this project is that, bit rate is programmable. This gives system engineer
the opportunity to optimize the performance of network for given network. In conclusion, the
designed system works efficiently on the CAN 2.0B protocol. The master-slave
communication is achieved up to 1 Mbps data rate. The ADC modules used for various sensors
were updated at 2µsec timing. The data flow rate of CAN was proper because of ADC update
time. The look-up table was generated in ROM memory and current values of sensors were
compared with look-up table values and according to that DTC’s were generated. The step size
of ADC was kept 4.88 milivolt because of which system has given good response for small
changes.

Next, the research by D. Hetherington[2] from Asatte Press, Inc Austin, Texas. The
research is about Predicting Field Performance of On-Board Diagnostics using Statistical
Methods. The research is about how to set business performance objectives for the onboard
diagnostics, practical methods of quantifying failure modes, the statistical measurement
approach, how to prepare testing programs, and how to administer the tests and evaluate the
results. There are several methods to complete this research which is IBM’s 1970s Service
Approach. Next is Enumerating the Space of Possible Failures, Determining the Size of the
Sample Set, Creating the Sample Set, and last but not least Managing the Evaluation. The other
aspect to complete the research is IBM’s 80/20 Approach, Maintenance Analysis Procedures,
and also Testing of Maintenance Analysis Procedures. In conclusion, The Pareto Economics
approach is key. Automate the part that is practical and cheap to automate. Invest heavily in

3
skilled service engineers to handle the rest. Given this sort of solid business goal clarity, it is
economically and technically feasible to build on-board diagnostics that will automate the
detection and isolation of about 80% of all failures and verify the expected field performance
of these diagnostics to a 90% level of confidence.

Third is the research made by P. Kadekar and A. Wakankar[3] from Dept. of

Instrumentation and Control MKSSS’s Cummins College of Engineering, Pune. The research
is about Automated Test Environment for On-Board Diagnostics Counters for an Automotive
On-Road Application. This research is about to implement automated test environment for
OBD Counters using test bench setup to monitor various parameters automatically, which will
robustly reduce the man hours by 50%. NI Test Stand is used as software platform to develop
test sequences, Electronic Control Module (ECM), Engine simulator serves as hardware
platform. The OBD Counters are tested using two methods which is Manual Testing and
Automated Testing. The test set up is using system (PC), Electronic Control Module (ECM),
PCAN Hardware, Wiring Harness, LUIS Bench and also NI TestStand. This research give
result the manual testing of OBD Counters requires 8 to 10 hours, Whereas testing OBD
Counters with automated test sequence only 15-20 minutes. With the testing, it is found out
that OBD Counters are working according to the requirements with desired outcomes, no
defects. The OBD Counters tested with manual test procedure overall requires 8 to 10 hours,
which is very time consuming. In order to reduce human errors as well as to reduce the testing
time, test automation is carried out by designing the test cases. Thus, testing of OBD Counters
with automated test sequence only took 10-15 minutes. Therefore, we can say that, test
automation saves manual testing time as well as report document creation time, which helped
in reducing the human burden by 50%.

Forth is a research by P. Kulkarni et al[4] from Electronics & Telecommunication

Department PCCOE, University of Pune, Akurdi, Pune, India. The research is about
Development of On Board Diagnostics (OBD) Testing Tool to Scan Emission Control System.
The research is about new indigenously developed OBD scanning tool which provides
complete access to engineers, good flexibility and large storage capacity with added features
like time and cost saving. Following are the hardware and software used for this system, for
hardware they are using laptop, PCAN USB (Peak Control Area Network), ECU (Electronic

4
control unit), sensors, doser and also actuator. For the software they are using PCAN Explorer
software tool, Engineering tool, Scripting Host and also VBA. The result for this reseach found
that the Time require to analyse data for Existing Scan tool is about 7-8 hours while Developed
Scan tool is about 20 minutes. In conclusion, the objective of this project was successful in
accomplishing goals. As the scan tool developed in this project is a PC-based scan tool, it is
relatively easy to store the retrieved data from the vehicle and to locate fault. The results shown
are verified using readymade Silver scan tool and it is proved that time requirement is reduced
drastically (around reduction by 96%). Due to the automatic analysis accuracy is more than
manual process in readymade tools. This project eliminates the dependency of company on
third party tool and tool can be altered as per company requirement.

In the fifth, a research made by M. A. K. Niazi et al[5] from Mechatronics Engineering

Department, National University of Sciences and Technology (NÜST) H-12, Islamabad,
Pakistan. They had carried a research about Development of an On-board Diagnostic (OBD)
Kit for Troubleshooting of Compliant Vehicles. The research is about the development of a
generic OBD device and its working with different vehicles based on OBD-II standards like
Land Rover Defender. The device shows the real time vehicle system status, including vehicle
speed, engine RPM, throttle position, battery voltage, engine coolant temperature etc. and the
diagnostic trouble codes (DTCs) for different vehicles. The method used for this project was
an ELM327 IC for interpreting the OBD protocol. ELM327 IC was developed to act as a bridge
between regular RS232 serial ports and the onboard diagnostic ports because there are several
different OBD-II communication protocols. A customized Graphical User Interface (GUI) has
been developed to make the device and software user friendly in the Microsoft Visual Studio
environment using C#. Using this software they can have different PIDs, their real-time
graphical plots and the DTCs stored in the vehicle. In conclusion, Most of the work was done
on Land Rover Defender 2007. This device can work on all models of Land Rover Defender
based on OBDII standard and many other vehicles like Toyota Corolla, Honda City, Honda
Civic etc.

Apart from that, a research made by S .H. Ramachandra et al[6] from Department of
Electronics and Communication Engineering R.V College of Engineering, Bangalore,
Karanataka, India had carried out a research of A Novel Dynamic Traffic Management System

5
using On Board Diagnostics and Zigbee Protocol. The research is about to develop and
implement a working prototype of a system to ease traffic congestion by controlling traffic
lights dynamically based on the traffic density, which, in turn, is determined by using the
average speed data provided by the vehicles. The method use by them is by using ELM327
based wireless OBD device to obtain the instantaneous speed of the car. Then, once the data is
acquired from the car, the next step is to establish communication with nearby light poles using
Xbee modules working on the 2.4 GHz wireless RF Zigbee protocol. After that, the data from
the various coordinators is aggregated and collectively sent to a central server. The role of the
server was fulfilled by a Raspberry Pi B+. Next, a unique algorithm was developed which maps
speed of the vehicles in a particular lane to traffic density to control the traffic lights. The basis
for the algorithm is based on generic traffic control techniques. The result of this project was
the micro controller also calculates the average speed over a small time interval to minimize
the data to be transferred over the network. Worst case deviation of speed value is found to be
2kmph. Improvements can be done by increasing the rate of data transmission, but is not critical
for our system. The time required to run the initialization and successfully connect to the OBD
over Bluetooth ranges from 10±2 seconds. In conclusion, the particular Dynamic Traffic
Management System sets itself apart from its predecessors by being more effective in its
working, by comparison. A smart transportation system complements a smart city and the
solution we propose will certainly be robust and effective in practice. If fully realized, this
system will surely eradicate the need to leave places much earlier to reach a destination. The
outcome of implementing such a system can be easily perceived and the consequences will be
far-reaching. This system, we believe, will find a place in realizing the smart cities of the future.

Furthermore, the previous project by R. Agrawal et al[7] from VIT University, Vellore-
632014 Tamil Nadu, India. They had carried a project about Built in Self-Test for Fault
Tolerant Real Time In vehicle Networks through Automotive Diagnostics. The research is
about diagnostic system which regularly monitors all the car modules and also takes care of
the dysfunctional units through the various services defined in the Unified Diagnostic Services
Standard. They are using CANoe AND CANcaseXL as a comprehensive software tool for the
development, testing and analysis of entire ECU networks and also as the simulation of total
virtual nodes or a combination of physical node and virtual node, realization of real-time
monitoring of the physical bus communication. They also use Transmission Control Unit to
taking inputs from vehicle speed sensor, throttle position sensor etc. to determine when a gear

6
change should take place. The problem being defined for TCU is that of a faulty vehicle sensor
which always tries to actuate the gear box incorrectly. In conclusion, their project mainly
introduces the use of the diagnostic tester as a built-in self- test to identify the in vehicle
problems in the real time itself automatically, display them on the cluster and also take
necessary actions to isolate them before getting them repaired in the garage.

Moreover, there is also a previous research by H. Wang et al[8] from State Key
Laboratory of Automobile Dynamic Simulation, Jilin University Changchun 130025, China
has carried out a research of Study on Misfire Diagnostic Strategy of OnBoard Diagnostics
System On LPG Passenger Car. The research is about a method of misfire diagnostic detection
on the LPG vehicle. The misfire rates of the catalytic converter irreversible damage
temperature in full-working-condition and the misfire rates based on the exceeding OBD
system emission limit in GB I test are respectively confirmed by Class A and B misfire
diagnostic calibration experiments. The misfire diagnostic method in this project was defined
by calculating the engine roughness. The method use in this project was misfire detection based
on the engine roughness is a promising method to comply with requirements of CARB
(California Air Resources Board). For the LPG engine, by measuring the time segments of
working stoke in each cylinder, the misfire is detected, and the misfiring cylinder is identified
by the speed sensor on the camshaft. In fact, the misfire event implies lacks of positive torque
on the crankshaft during the corresponding expansion stoke, and therefore sudden decrease of
engine speed. Misfire also has the influence to the temperature of catalytic converter. The
misfire rate strongly depends on the engine operating conditions, high engine speed and load
being especially critical, and the exhaust temperature is high. In conclusion, the proposed
misfire diagnostic method based on the engine roughness has been economically and accurately
verified by extensive vehicle tests. The Class A misfire limit is confirmed with the CARB_A
value 2000. And the cylinder of the highest misfire rate will be shut off in order to prevent the
converter. The Class B misfire rate is up to 3%, the exhaust emission exceed the OBD standard
in the LPG vehicle test.

Apart from that, a research done by S. Zaman and P. Lepej [9]from Institute for
Software Technology, Graz University of Technology, Graz, Austria. Faculty of Electrical
Eng. and Computer Sc., University of Maribor, Maribor, Slovenia. They carried a research of

7
ROS-Based Diagnostic Board for Detecting and Repairing Hardware Faults in Autonomous
Mobile Robots. The research is about Model-Based Diagnosis (MBD) system uses model
(correct behavior of a robotic system), diagnosis engine, and a planner based repair engine for
detecting and repairing faults. In this contribution we present a new hardware called Diagnostic
Board used as counterpart to MBD system in order to cope with particularly hardware faults.
It is micro-controller based board originally built for monitoring hardware devices connected
to its output/input channels. MBD system detects faults in hardware components on the basis
of observations coming from diagnostic board. Faulty hardware sensors may be repaired either
by stopping or restarting it. Diagnostic board has capability of automatically switching a
channel ON or OFF selected by MBD planner system. It can also measure power state, voltage
level, and current measurements present on its channels. It can be accessed over Ethernet
connection, and has a wireless router to connect with outer-world. Software running in micro-
controller lets board act like a server. A TCP/IP based protocol has been developed to make
clients connect and interact with diagnostic board either on wired or wireless media under
server/client architecture. The method use in this project was INT Command, MSR Command,
ACK Command, BRD Command, RQS Command, SWT Command, Board Controller
Software, Board Server Controller, and Board Client Controller. The result of this project is,
the diagnostic board successfully brings all hardware components up within short period
(˜15secs) of time and the diagnostic board successfully switches ON the component back.
Moreover, board controller can also send command to switch on/off any other component if
required based on the plan. In future work, includes automatic modeling and learning the
correct behavior of robotic system, detecting and repairing faults both in hardware and
software at runtime.

Next is the project done by M. G. Karpovsky and P. Nagvajara[10], Student member

of IEEE. They are carried a project of Design of Self-Diagnostic Boards by Signature Analysis.
The project is about to construct a standard chip which can be implemented on any board, such
that this chip provides pseudorandom test pattern generation and diagnosis of a faulty chip. The
additional chip uses the existing system bus to transfer test data. The method use in the project
are a straightforward self-diagnostic design. For a straightforward self-diagnostic design, each
chip is being tested separately and the following cycles of test data transfers are executed. A
cycle consists of a generation of a new pseudorandom test pattern which is transferred to the
chip being tested. Next is Single Faulty Chip Self Diagnostic. Since single-faulty-chip events

8
are most likely to occur as a cause of failure in a system, a self-diagnostic procedure capable
of locating a single faulty chip will be sufficient in many cases. The advantage of the approach
presented is that only two reference signatures are stored for any number of chips on the
original board. The other step is just doing a mathematical modelling to complete the chip
design with those equation and formula use. The proposed method for the design of a self-
diagnostic board under a single-faulty-chip assumption is based on a standard additional chip
which can be implemented on any board and uses an existing system bus for transferring test
data. In conclusion, with this approach one substantially reduces the hardware overhead in the
design of a self- diagnostic system. For example, for a self-diagnostic board with 32 chips and
a 16-bit system bus, the proposed approach offers a saving of 75% of the hardware overhead
compared with the straightforward approach when each of the chips on the board is tested
separately by a linear feedback shift register. We note that the proposed method can also be
used for identification of faulty printed boards in a system or for identification of faulty
processors in a multiprocessor system.

Based on this review, four of them generate their own GUI for their project or research.
Moreover, five of them are making analysis on their project objective and two of them are
using IOT. Based on all of the review, the project by S. H. Ramachandra et al from Department
of Electronics and Communication Engineering R.V College of Engineering, Bangalore,
Karanataka, India about the project of A Novel Dynamic Traffic Management System using
On Board Diagnostics and Zigbee Protocol[6]. This project can be improved if the OBD device
is use for another function which is to monitor the vehicle health.

9
1.3 PROBLEM STATEMENT

Ambulance is a medically equipped vehicle which transports patients to treatment

facilities, such as hospitals. In some instances, out-of-hospital medical care is provided to the
patient. Ambulances are used to respond to medical emergencies by emergency medical
services. They can rapidly transport paramedics and other first responders to the scene, carry
equipment for administering emergency care and transport patients to hospital or other
definitive care. It is clear here that the use of ambulance is very important in saving lives during
an emergency situation[11].

The health of ambulances is very important to emphasize the importance of dealing

with emergency situations involving the lives of the people. therefore, every ambulance driver
needs to be aware of each component and an important part of the ambulance so that all of its
services run smoothly. Ambulance drivers need an easy tool to enable them to inspect their
guide vehicles more often to avoid unwanted events while serving. There has been an incident
in which an ambulance runs out of gasoline while serving and invites many problems to the
patient in it. it happens due to complication of petrol level indicator.

People in Malaysia are still not aware of emergency vehicles such as ambulances that
require immediate access to save lives. There are still many drivers in Malaysia who still do
not give way to the ambulance when the emergency siren from the ambulance is turned on.
This can be seen when an ambulance is forced to use a route that has a very crowded traffic
light, it makes the ambulance driver very difficult to have his way because there is no
cooperation from other vehicle drivers.

It can also be very dangerous to drivers and especially motorcyclists when they are co-
operated giving way to an ambulance when the red traffic light. It is because all the vehicle
driver or rider on the other green traffic light didn’t notice any ambulance on the other route
and it has a big possibility to have an accident to the vehicle who cross the red traffic light. It
can also be very dangerous to drivers and especially motorcyclists when they are co-operated

10
giving way to an ambulance when the red traffic light signal. This situation can be seen in the
traffic light in front of UiTM’s gate at Section 7, Shah Alam. It can be good if all traffic lights
traveled by ambulance can be changed to green as soon as the ambulance arrived at the traffic
lights area. This will be safety to all drivers and riders as well as to patients in the ambulance.
This can be done by the detection on speed and location of the ambulance by the OBD project.

11
1.4 OBJECTIVE

i) To develop IoT based On Board Diagnostic for Ambulance health monitoring such
as temperature, fuel and battery.
ii) To develop and implement vehicle location based on IoT.
iii) To make test on the project.

12
 CHAPTER 2

METHODOLOGY

This project consists of three stage, first the data from the ECU command will be read
by the OBD-II device. The OBD-II device that we use is Freematics One+ which is a powerful
Arduino programmable vehicle telematics prototyping platform. Freematics ONE+ comes with
an actively maintained Arduino library and ready-to-go Arduino sketches. Then, the data that
obtain by the Freematics One+ will transmit by Bluetooth, Wifi and WCDA. The data then will
extract by the server develop by GUI and android application.

13
2.1 FLOW CHART

2.1.1 STAGE OF THE MAIN SYSTEM

START

Vehicle

OBD II Reader

Server

END

Figure 2.1.1: Stage of main system

14
2.1.2 VEHICLE

Electronic Control
Unit (ECU)

Data Acquisition

OBD II Data Link

Connector

12V Power Scaling

Figure 2.1.2: Vehicle System

15
2.1.3 OBD II READER

OBD II Data Link

Connector

OBD II Interface

12V Power Scaling

OBD II signals to
text conversion

GPS Module Processing

Output

Wireless
Communication

Figure 2.1.3: OBD II Reader

16
2.1.4 SERVER

POWER
ON

No

OBD II Connect
check

Yes
OBD II
communication
connection

OBD II
communication
connection method
check

No

OBD II Vehicle
data request

Yes

Process received
data

Transmit data to
request device

17
 Transmit data to
request device

Transmit Wifi Transmit Bluetooth Transmit WCDA

module module module

Storage

Display

END

Figure 2.1.4: Server

18
2.1.5 DRIVER

DRIVER
WANT TO
MONITOR

Bluetooth /Wifi /WCDA

Wifi/ Bluetooth WCDA

Turn On Wifi/ Insert SIM card into

Bluetooth on OBD II device
smartphone

Connect to netwotk Open HTTP server No

No

Connected? Can open?

Yes Yes

Display Display

END

Figure 2.1.5: Driver Instruction

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2.1.6 SPEED MONITORING

START
MONITOR

Open HTTP server Detect location

Connected Traffic No
Light?

Yes
Monitor the speed
Send information to
City Council to turn
it green

Yes
Speed
slow?

No

END

Figure 2.1.6: Speed Monitoring

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2.2 OBD II DEVICE

The OBD II connector can access data from the vehicle easily. The OBD II standard
(SAEJ1962) specifies two female OBD II 16-pin connector types (A & B). Here is an example
of a Type A OBD II pin connector or it is known as the Data Link Connector, DLC and also
the device use in this project.

Figure 2.2.1: OBD II Pin Connector

Figure 2.2.2: OBD II Device

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2.3 OUTPUT DISPLAY

Figure 2.3.1: Example of OBD GUI

Figure 2.3.2: Example of Android Apps for IOT

22
Figure 2.3.3: Example of GPS display

23
2.4 INTERNET OF THINGS (IOT)

Figure 2.4.1: IoT Structure

24
 The Internet of things (IoT) is the expansion of Internet network into physical gadgets
and regular articles. Embedded with gadgets, Internet network, and different types of
equipment like sensors, these gadgets can convey and interface with others over the Internet,
and they can be remotely checked and controlled. In this project will use Internet of Thing
(IoT) to monitor the ambulance heatlh and speed. The connection of the phone to the OBD II
device is using either Bluetooth, Wifi and also WCDA.

25
 GANTT CHART FOR FYP 1 & FYP 2
MARCH APR MAY JUNE SEPT OCT NOV DEC JAN
18 18 18 18 19 19 19 19 19
DISCUSS ON
PROJECT
TITTLE
MEETING WITH
SUPERVISOR
LITERATURE
REVIEW
PROPOSAL
SUBMISSION
DESIGNED
DEVELOP
PROJECT
TECHNICAL
PAPER
WRITING AND
PRESENTATION
PREPARATION
SUBMIT
TECHNICAL
PAPER AND
PRESENTATION
THESIS
WIRITNG
THESIS
SUBMISSION

26
 CHAPTER 3

3.1 PRELIMINARY RESULT

The first step testing of this project is done after several testing. The data extract from
the ECU to the Serial Monitor was not in detail but the data was successfully extract. The
testing is using Toyota Vios as the vehicle. This project will continue further with GUI and
android apps develop. Here is the example of the data extract from the car ECU and using
Android Builder.

Figure 3.1.1: Test on extraction data

27
3.2 EXPECTED OUTCOME

In this project, it is required to have own GUI for the display of the ambulance health
which is extract from the ECU by the OBD device. Furthermore, it also needs to interface using
IoT. The IoT software in the smartphone will be develop by the Blynk apps. The apps can be
found inside the Google Play and need to develop. This project also needs to have some
research about the speed of the ambulance to determine which location it stuck in the
congestion. The purpose of the research of the speed is to alert the city council to immediately
change the traffic light from red to green to prevent the ambulance from stuck in the congestion.
This a little bit helping us to head towards the smart city but in this project, it only provides the
way to detect the ambulance in the congestion by the speed, it does not involve City Council
in this project. This project are expected to be done by using Freematics One Plus device and
the GUI and IoT will be showing the data in real time.

28
3.3 CONCLUSION

In conclusion, this project will give many benefits to the ambulance. One of which is
that every ambulance will be in good condition to serve the patient. it will also make every
service to the patient run smoothly. In critical situations, any bad thing is very undesirable by
every ambulance driver as well as a nurse serving in the ambulance. Ambulance is the most
important vehicle when on the road and most should be given priority for route because
ambulance brings patient life in it. This project also can contribute towards the smart city in
future for the city council give much priority to the first emergency vehicle which is ambulance.

29
REFERENCE

[1] P. R. Burje, K. J. Karande, and A. B. Jagadale, “Embedded on-board diagnostics

system using CAN network,” Proc. - 2014 IEEE Glob. Conf. Wirel. Comput.
Networking, GCWCN 2014, pp. 31–35, 2015.

[2] D. Hetherington, “Predicting field performance of on-board diagnostics using

statistical methods,” IEEE Instrum. Meas. Mag., vol. 19, no. 4, pp. 23–29, 2016.

[3] P. Kadekar and A. Wakankar, “Automated Test Environment for On-Board

Diagnostics Counters for an Automotive On-Road Application,” Proc. 2nd Int. Conf.
Trends Electron. Informatics, ICOEI 2018, no. 1, pp. 409–413, 2018.

[4] P. Kulkarni, P. K. Rajani, and K. Varma, “Development of On board diagnostics

(OBD) testing tool to scan emission control system,” Proc. - 2nd Int. Conf. Comput.
Commun. Control Autom. ICCUBEA 2016, pp. 1–4, 2017.

[5] M. A. K. Niazi et al., “Development of an On-Board Diagnostic (OBD) kit for

troubleshooting of compliant vehicles,” ICET 2013 - 2013 IEEE 9th Int. Conf. Emerg.
Technol., 2013.

[6] S. H. Ramachandra, K. N. Reddy, V. R. Vellore, S. Karanth, and T. Kamath, “A novel

dynamic traffic management system using on board diagnostics and Zigbee protocol,”
Proc. Int. Conf. Commun. Electron. Syst. ICCES 2016, 2016.

[7] C. Sasikumar, R. Agrawal, S. Gupta, S. Gupta, and R. Maheshwari, “Built in self-test

for fault tolerant real time in-vehicle networks through automotive diagnostics,” pp.
379–382, 2012.

[8] H. Wang, W. Sun, and Y. Liu, “Study on misfire diagnostic strategy of on-board
diagnostics system on LPG passenger car,” Asia-Pacific Power Energy Eng. Conf.
APPEEC, pp. 1–4, 2011.

[9] S. Zaman and P. Lepej, “ROS-based diagnostic board for detecting and repairing
hardware faults in autonomous mobile robots,” 2014 Int. Conf. Robot. Emerg. Allied
Technol. Eng. iCREATE 2014 - Proc., pp. 95–102, 2014.

30
[10] M. G. Karpovsky and S. M. Chaudhry, “Design of Self-Diagnostic Boards by Multiple
Signature Analysis,” IEEE Trans. Comput., vol. 42, no. 9, pp. 1035–1044, 1993.

[11] Skinner, Henry Alan. 1949, "The Origin of Medical Terms". Baltimore: Williams &
Wilkins

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