Engineering Projects - Naman Shah 1. Hands-Free Mouse for people with upper-limb deformities (Synopsis) 2.

Hands Free Driving (Synopsis + project report) 3. Wireless Pacemaker Project (to be updated) For more information: https://sites.google.com/site/namanshahedu/home

1. Hands-Free Mouse for people with upper-limb deformities - (August 2010) Winner of Best Engineering Project in India at the IRIS Intel National Science Fair 2010 The project led to the creation of a hands-free computer mouse for people with upper limb disabilities. A remote attached to the belt of the user, detects motion in any direction and the computer reads these motions and allows him/her to navigate across the computer screen. Two other foot-operated switches allow the user to use the left click and the right click options. This enables the user to do all kinds of ta sks on the computer that a normal person can perform including typing (with the help of an on-screen keyboard), running programs and surfing the net. The remote that is attached to the belt, has a motion sensor and is synchronized to the computer via a Bluetooth. A computer program was made, which enabled the remote to act as a computer mouse and allowed buttons like the left click and the right click to be operated by pressing buttons on the remote. These buttons on the remote were then connected to two foot-operated switches and played the role of clicking on the mouse. The whole project was very cost-effective, as the total cost including the belt, batteries, remote and Bluetooth came up to 750 Rs. Other Voice Recognition systems that have been developed are still sketchy and cost more 25000 Rs. Our project would be of great help to people with upper limb disabilities. This could be the first time men could control a mouse without any difficulty by moving their upper chest or torso. Our experiments with patients having Arthritis were quite successful, as we observed them using hands-free navigation, clicking and typing very easily. It is affordable for the common man. It is easy to use and distribute, as the user could just wear the belt, and then use the system to good use. Another advantage is that this system is wireless, unlike the Voice Recognition Systems. People on wheel chairs could actually operate the computer while moving around without risking any device or system to fall down. The range of the system is more than 20 feet and the motion detection is very fast, which is why this device is user friendly too. A popular game called the Wii, made by Nintendo allowed gamers to sway remotes in the air and replicate throwing a ball, and a cartoon on the screen would throw it in exactly the same direction and at the same time. This gave us the idea to create a remote whose motions would be detected by the computer at exactly the same time as executed, which would allow people with hand disabilities to operate such kind of device with other parts of the body than hands.

We have tested 5 patients with upper limbs disability, in the waiting room of Doshi Nursing Home. The patients were helped to wear the belt, and were told to type, Hands-free typing with wireless remote, with the help of an on-screen keyboard. The average time for the 5 patients was 75 seconds. 5 other people, without upper limb disabilities used a normal computer mouse, and they received an average timing of 43.5 seconds for the same sentence. We started working on the making of the system, on June 1, 2010. And since, then we have come up with various designs and have experimented taping the remote to various parts of the body, such as the head, the chest, and the belt. We found that though, it was easy to control the remote by moving the head around, while turning the head left and right so as to move the mouse in the same direction, it became a little tough to concentrate on the screen when one was not facing it. Therefore, we finalized the remote to be attached on the belt so that the person could easily navigate with little trouble, and if the user was on a wheel chair, then movement became even easier.

HANDS FREE DRIVING

Synopsis The Hands Free Vehicle is controlled without touching the steering wheel, break or accelerator using hands or feet. The device will enable physically disabled people to use wheelchairs and automobiles with ease. The system is safe for people with limb injuries, amputations, fractures etc, enabling them to drive comfortably. Infrared technology is used to detect the drivers position in the car. As the driver tilts towards a sensor, the infrared values increase. These changes in values of the sensor are programmed (using an algorithm) to send signals to the motor of the vehicle about where to move. Thus, swaying in one particular direction results in the vehicle moving in the same direction. Acceleration is controlled by the drivers distance from the sensor. Brakes can be applied using a stop sensor at the back of the driver. The prototype is economical and easy to use. This method is specially designed for those with disabilities or injuries who have trouble driving existing systems.

The Question

Can a vehicular navigation system be designed, using programmed infrared sensors, to instruct directional movements without physical contact? Currently, power wheelchairs are the only solution for non contact wheelchair movement which is propelled by means of an electric motor. But these usually have controllers which are most commonly limited to arm-rest mounted joysticks. Attempting to make a vehicle operated by noncontact movements, we developed a prototype robot that can move efficiently to small body movement commands which are sensed by infrared sensors. We developed an algorithm for the navigation system of the prototype robot, allowing it to obey the following instructions; 1) Turn Left 2) Turn Right 3) Move Forward 4) Stop 5) Accelerate 6) Decelerate

With the ease of use of this prototype robot, the navigation system can be implemented for any other vehicle, such as but not limited to; 1) wheel-chair 2) car 3) truck 4) military vans / tanks

Hypothesis Using my designed algorithm, the prototype should be able to move in the correct direction as a result of following action(s) by the user; such as, but not limited to: 1) leaning on direction of sensor(s) 2) covering sensor(s) with hands/ shoulder etc. 3) tilting one's head in the direction of the sensor(s)

Research According to doctors and nurses at Doshi Hospital, a lot of medical staff time is lost escorting patients with limb disorders on wheelchairs. Most of these patients have fractures, surgeries or an amputation which means that in most cases the patients can perform simple movements like leaning on one side or tilting their heads, even if they cannot walk. Doctors were interested in having an easily operational wheelchair that would allow such patients to move around without assistance. The hospital even had patients with minor fractures on their upper limbs who could walk but could not drive a vehicle. Such patients would also benefit from a vehicle which would not need them to use their hands for driving. An infrared sensor is a device that emits and/or detects infrared radiation in order to sense some aspect of its surroundings. Infrared sensors can measure the heat of an object, as well as detect motion. All objects emit some form of thermal radiation, usually in the infrared spectrum. This radiation is invisible to our eyes, but can be detected by an infrared sensor that accepts and interprets it. In a typical infrared sensor like a motion detector, radiation enters the front and reaches the sensor itself at the center of the device. This part may be composed of more than one individual sensor, each of them being made from pyroelectric materials, whether natural or artificial. These are materials that generate an electrical voltage when heated or cooled. These pyroelectric materials are integrated into a small circuit board. They are wired in such a way so that when the sensor detects an increase in the heat of a small part of its field of view, it will trigger the motion detector's alarm. It is very common for an infrared sensor to be integrated into motion detectors like those used as part of a residential or commercial security system. Powered wheelchairs today are propelled by an electric motor and have to be navigated by a joystick which has controls. This is usually done with fingers, but new models are in the making which can help control the joystick with eyeball movements or sip and puff techniques which can help in movement by inhaling and exhaling. Another wheelchair called the SIAMO wheelchair which is in the process of development by Henrik Vie Christensen and Juan Carlos Garcia uses micro-controllers and a computer on the lap of the person which helps in non-contact movement. The SIAMO wheelchair exchanges status and commands linked by a communications channel which is difficult to setup on a wheelchair. It also has a control system through the computer panel port which makes the wheelchair heavy and reduces the speed.

Unlike the SIAMO and the powered wheelchairs, we wanted to create an infrared sensor operated non contact vehicle suitable for driving. Its functions would include turning/ moving forward, accelerating/decelerating and stopping. We wanted to make this affordable and convenient with minimal electronic devices involved in sending signals. We chose to use an infrared sensor rather than other distance sensors like the Laser Diode which were difficult to purchase (due to commercial availability).

Algorithm procedure: Put the following parameters in the program; 15,10,5 cm IR value upper-lower bound range for each sensor. More the distance, faster the prototype should move --> this would allow acceleration/deceleration. Map sensor 1,2,3 as left, right and front movement and bump sensor as kill-switch to stop system. Program movement if IR value is in the range inputted. For both algorithms, measure the accumulated variance of the prototype's ending position from its target destination in cm (dependent variable). Repeat entire testing procedure five additional times to ensure accuracy.

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Data The first set of readings that were recorded were based on finding the Infrared values with changing distance for each particular sensor (three sensors were positioned for left, right and front movement). The distance between the head/body and the IR Sensor receiver was kept to the distance being tested (15.00/10.00/5.00 cm) using a ruler (uncertainty: +/-0.05 cm). The IR Sensor was connected to the robot and calibrated and the value was noted down. The diagrams on the next page show how the values of Sensor 1 (left sensor) were noted for 15 cm/ 10 cm and 5 cm.

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In the following way, the IR values of all the sensors were noted. These values have been listed in the table below.

IR VALUES OF THE DIFFERENT SENSORS USED FOR VARIED DISTANCES FROM HEAD Distance from head to receiver of IR Sensor (cm), +/- 0.05 cm 15.00 10.00 5.00 Infrared value of IR Sensor 1 (Left sensor) 10 26 62 Infrared value of IR Sensor 2 (Front sensor) 11 26 64 Infrared value of IR Sensor 3 (Right sensor) 10 27 63

Using this data, the upper bound and lower bound inequalities were made. These inequalities when programmed would be a medium of instruction for the robot to move in the direction of the range of the IR value sensed. The following flowchart summarizes the use of the IR values in the program for the left turn.

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Use of IR values of IR sensor 2 (front movement)

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Use of IR values of IR sensor 3 (right sensor)

The second set of readings recorded were based on the difference between the desired endpoint and actual ending position of the robot (+/-0.05 cm). The task given to the robot was; 1) Move straight at 100% speed for 2 seconds 2) Move straight at 60% speed for 2 seconds 2) Move right at 100% speed for 2 seconds 3) Move left at 60% speed for 2 seconds So as the end position could be checked and spotted, the robot's 100% speed was found. This was 7.5 km/hr = 2.083 m/s.

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The table below shows how close the robot moved to the end position where it should have been for the 20 trials that were performed. Trial Deviation Number from end position (cm) +/-0.05 cm 1 5.70 2 3.30 3 7.90 4 4.20 5 4.70 6 6.00 7 7.30 8 8.90 9 11.10 10 3.50 11 6.70 12 5.40 13 7.10 14 9.50 15 3.40 16 1.60 17 2.30 18 1.70 19 3.30 20 4.10 Mean deviation from end position = (Sum of all deviations) / (No. of trials) = 105.423/ 20 = 5.27 cm (3 significant figures) Observations We had quite a few problems initially, regarding the calibration of the sensors as they would show a bigger range than what we had expected, but these was soon sorted out as we found 3 sensors with almost identical results. We realized that it was the dust accumulated on the receiver and transmitter of the sensor which was causing the anomalous results. During the course of our experimentation we found that the brick would be confused and abort the program quickly when we had a large range of detectible motion as multiple sensors would be at their 'Yes' condition, attempting to cause the motors to run in both directions at once. This problem was solved by adding a command which made the robot follow only the highest infrared value.

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An example of our error and how it was solved is listed below: In our first test one command went as follows, '' IF ANALOG SENSOR X <=26 THEN TURN LEFT/RIGHT/MOVE FRONT WITH SPEED OF 60 % Another statement said, '' IF ANALOG SENSOR X <=11 THEN TURN THEN TURN LEFT/RIGHT/MOVE FRONT WITH SPEED OF 20 % These commands overlap because the robot does not understand whether to go at a speed of 20% or 60% when the IR value is under 11, and therefore aborts the program. In the revised algorithm the statement reads as follows; NOTE: M1 STAND FOR MOTOR 1, M2 STANDS FOR MOTOR 2 IF(ANALOG SENSOR X <= 65 AND ANALOG SENSOR X >= 25) { M1MOTOR(FORWARD,60); M2MOTOR(FORWARD,60); } ELSE{ IF(ANALOGSENSOR2 <= 25 AND ANALOGSENSOR2 >= 11) { M1MOTOR(FORWARD,20); M2MOTOR(FORWARD,20); This ensures that the robot has a different command for >=26 and >=11. The prototype's IR distance racking was almost perfect as it was able to turn almost simultaneously with us leaning on either side. It's mean deviation was 5.27 cm, which is fairly accurate for its size. Acceleration/deceleration also proved to be simple, although it was difficult to make out the border line of the 3 different speeds (100%, 60%, and 20%) which are at 15.00, 10.00 and 5.00 cm. A solution for this is to make more different speeds (100%, 90%, 80%, 70% etc) or simply put a marker so as inform the user how much he/she has to lean to accelerate/decelerate. When different people sat on the chair mounted with sensors and tried to control the robot, it was noticed that the complexion of their face or color of their clothes hardly influenced the IR value's as the range was good enough to encompass most light and dark colors, although in special cases, the program could be modified to allow users with different complexions (not included in the IR upper bound and lower bound values found). Conclusion The results of our experiment supported the hypothesis. We were successful in making a non-contact Infrared sensor based navigation system controlled by leaning of the body. This navigation system can prove to be useful for people who cannot drive with their limbs. During the tests, it was also observed that this navigation system is easy to use, and that turning, moving forward, accelerating, decelerating

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and stopping is extremely easy with this navigation system. This system can be of help to people with limb disabilities, people who cannot drive an automobile, and the military who require drivers to multi task during action. Having these vehicles would also benefit hospitals who would have to spend lesser human resources to move patients on wheelchairs due to limb disorders. People with fractures or injuries who cannot drive a car, can use this navigation system in case of emergency. The tested prototype is very cost-effective. One infrared sensor costs $5. The only expensive device being used is the programmable BRICK ($80). The total cost of this prototype was $ 130. Our experiment could be improved by adding an additional sensor. This additional sensor could add reverse movement in the navigation system. We would have also liked to drive a wheel chair/ vehicle using our navigation system. This would need larger and powerful motors. To make navigation extremely safe more sensors could be applied to the vehicle in all directions to prevent any kind of accident from taking place. The sensors could be programmed to start beeping or brake automatically when another vehicle or hurdle is very close to our vehicle. Such small advancements can be made for particular utilities of the navigation system. For example, in a armored vehicle head leaning could be used for driving and hand could be free to be used for firing. This science fair project has inspired us to transform this prototype into vehicles for different uses and build small advancements particular to its utility. We enjoy programming robots but are interested in making non-contact devices that do difficult tasks to make life easier.

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Works Cited Photo credit: Sensors/IPITARA kit: http://thinklabs.in/shop/index.php?cPath=64 www.robo.in Websites: Statistics on hand and arm loss: www.aboutonehandtyping.com/statistics.html Article on robotics: http://timesofindia.indiatimes.com/world/rest-of-world/Robots-everywhere-but-not-innuclear-plants/articleshow/7732854.cms Information on powered/motorized wheelchair: http://en.wikipedia.org/wiki/Motorized_wheelc Military Robots: http://en.wikipedia.org/wiki/Military_robot http://www.spawar.navy.mil/robots/ Infrared Sensors: http://www.ikalogic.com/ir_prox_sensors.php http://www.acroname.com/robotics/info/articles/sharp/sharp.html#e8 Bump Sensor: http://www.societyofrobots.com/sensors_tactbumpswitch.shtml Distance Sensors: http://zuff.info/RangeFindersComp_E.html Ultra-sonic Sensors: http://en.wikipedia.org/wiki/Ultrasonic_sensor Laser Sensors: http://en.wikipedia.org/wiki/Laser_rangefinder IPITARA ROBOT: ipitara.in Books Association for the Advancement of Assistive Technology in Europe - 2005 - Education - 781 pages Alain Pruski, Harry Knops, Intelligent Robotics and Applications: First International Conference, ICIRA by Caihua Xiong, Honghai Liu, Yongan Huang, Youlun Xiong http://books.google.co.in/books?id=yU8bQFvSipUC&printsec=frontcover&dq=Intelligent+Robotics+and+Appl ications:+First+International+Conference,+ICIRA&hl=en&ei=RPOOTebNJG8uwPqs5S1DQ&sa=X&oi=book_result&ct=result&resnum=1&ved=0CC8Q6AEwAA#v=onepage&q&f=f alse Principles of Robot Motion: Theory Algorithms
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Howie M Choset, Seth Hutchinson, Kevin M Lynch, ... - 2005 - 642 pages

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