v
TABLE OF CONTENT
Abstrak
i Abstract
ii Dedication
iii Acknowledgement
iv Table of Content
v List of Tables
vii List of Figures
viii List Abbreviations, Symbols and Nomenclatures
x
CHAPTER 1: INTRODUCTION 1
1.1 Background 1
1.2 Problem Statement 3
1.3 Objective 3
1.4 Scope of the project 3
1.4.1 The basic concept of android application 4
1.4.2 The basic movement of the wheelchair 4
1.5 Project Methodology 4
1.6 Thesis Structure 5
CHAPTER 2: LITERATURE REVIEW 6
2.1 Wheelchairs History
6 2.2
Previous Development of Wheel Chair Technology 7
2.2.1 Development of Autonomous Robotic Wheelchair Controller 7
Using Embedded Systems 2.2.2 Voice Activated Wheelchair Controller
7 2.2.3 Electronic Wheelchair Controller Designed For Operation By
8 Hand operated Joystick, Ultrasonic Non-Contact Head Control and
Utterance from A Small Word-Command Vocabulary
2.2.4 Interaction Design for Wheelchair Using Nintendo Wii mote 9
vi Controller
2.2.5 System Design Consideration for Digital Wheelchair Controller 9 2.2.6 Electric Wheelchair Controller Based on Parameter
10 Self-Adjusting Fuzzy PID
2.2.7 Smart Assistive Technology: Intelligent Controller Design to 10
Mitigate Tremors Due to Multiple-Sclerosis in Controlling Electric Wheelchairs
2.2.8 Wheelchair Obstacle Avoidance Based On Fuzzy Controller and 11 Ultrasonic Sensors
2.2.9 A Nonlinear Elastic Path Controller for a Robotic Wheelchair 12
2.2.10 Fuzzy Controller for Obstacle Avoidance In Electric Wheelchair 12 With Ultrasonic Sensors
2.2.11 Android-Based Wheelchair Controller 13
2.3 Comparison between different wheel chair technologies
13 2.4
History of Android System 16
CHAPTER 3: METHODOLOGY 20
3.1 Introduction
20 3.2
IOIO Firmware 22
3.2.1 Development of IOIO-OTG Firmware Bluetooth Name 23
3.2.2 IOIO-OTG Firmware Bluetooth Pin 24
3.2.3 Firmware Upgrade Instructions 27
3.3 IOIO Library
32 3.3.1 Creation of Modified IOIO library
32 3.4
Software Implementation 37
3.5 Relay Circuit for RF Transceiver Module
38 3.6
Steps to Control Speed of the Motor 40
CHAPTER 4: RESULT DISCUSSION 41
4.1 Analysis of software part
41 4.1.1 Interface design
41 4.1.2 New Control Type Added
44 4.1.2.1 D-pad
45
vii 4.1.2.2 Joystick
46 4.1.2.3 Voice Control
47 4.1.3 Improved Controlling Appliance
49 4.1.4 Improved and more friendly Qibla Direction
51 4.2
Hardware analysis 58
4.2.1 Movement of the motor 58
4.2.2 The Truth Table for Motor Driver 59
4.2.3 IOIO PWM output Analysis 60
4.2.4 Battery Monitoring 64
4.2.5 Ultrasonic Sensor Analysis 68
4.3 Discussion
72
CHAPTER 5: CONCLUSION FUTURE WORK 75
