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Self-Driving Wheelchair

Self-Driving Wheelchair. By Drivomatic Technology Corporation. DTC’s Mission. “To provide innovative solutions for the mobility impaired to increase the individuals’ independence and security in everyday life.”. Agenda. Our Team System Overview Implementation Our Business Our Project

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Self-Driving Wheelchair

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  1. Self-Driving Wheelchair By Drivomatic Technology Corporation

  2. DTC’s Mission “To provide innovative solutions for the mobility impaired to increase the individuals’ independence and security in everyday life.”

  3. Agenda • Our Team • System Overview • Implementation • Our Business • Our Project • Future Development • Open Floor for Questions • Live Demo

  4. Jonathan Hung Title: Chief Executive Officer (CEO) Project Manager • Planning and execution of project • Schedule meetings • Set deadlines and milestones • System integration

  5. Benjamin Chang Title: Chief Operations Officer (COO) Chief Systems Engineer • Systems Engineering consulting • PID control consulting

  6. Andy Chen Title: Chief Financial Officer (CFO) Visual Systems Engineer • Manage project financials • Video processing consulting

  7. Jian Guo Title: Chief Technology Officer (CTO) Chief Hardware Engineer • Hardware Programming • Circuit Design

  8. Ammar Zaidi Title: Chief Marketing Officer (CMO) Electronics/Hardware Engineer • Market research • Public relations • Circuit building

  9. Agenda • Project Management • System Overview • Implementation • Our Business • Our Project • Future Development • Open Floor for Questions • Live Demo

  10. System Overview User selects destinations Environmental Input SDW System Destination Reached

  11. Design Considerations • Safety • Speed • Reliability

  12. Features • Switch between “Manual” and “Self-Driving modes • Change desired destination • Changeable map data structure

  13. Agenda • Project Management • System Overview • Implementation • System • Electrical • Our Business • Our Project • Future Development • Open Floor for Questions • Live Demo

  14. Systems • Track Following • Feedback Control • Route Planning

  15. Track Following

  16. Edge Detection

  17. Linear Regression y = mx + b

  18. Error Signal Reference Intercept Error Signal Actual Intercept

  19. Feedback Control Error Signal Camera Feedback Control Wheelchair

  20. Route Planning • Map Storage • Turning Decision

  21. Demo Map

  22. Map Storage • Location indicated as Integer • Map stored in a matrix of integers • How to get from 1 to 2? • Suppose 1->4->5->3->2 • (1->2) ask (4->2) • (4->2) ask (5->2) • etc

  23. Map Storage - Example

  24. Turning Decision • Known prev, current, next location • 2 vectors

  25. Turning At Intersection • Turn Right or Left until edge is detected • To turn back, backup out of the intersection

  26. Agenda • Project Management • System Overview • Implementation • System • Electrical • Our Business • Our Project • Future Development • Open Floor for Questions • Live Demo

  27. Hardware • CMUCam3 • Parallax RFID Reader • Wheelchair Control • PWM to DC converter Unit • Power Supply Unit

  28. CMUCam 3 • designed by CMU • LPC2106 MCU • OV6620 CMOS Cam • SD MMC slot

  29. Parallax RFID Reader • Serial TTL interface • Baud Rate 2400 • Range 4 inches

  30. Wheelchair Control Joystick Control Characteristics Joystick null position output: 2.5V Joystick voltage output range: 1.1V ~ 3.9V

  31. Servo Characteristics

  32. Design Approach

  33. RFID Reader Module

  34. Agenda • Project Management • System Overview • Implementation • System • Electrical • Our Business • Our Project • Future Development • Open Floor for Questions • Live Demo

  35. Our Business • Market • Production cost

  36. The damage slows down or blocks messages between the brain and body. Symptoms include: Visual disturbances Muscle weakness Trouble with coordination and balance Sensations such as numbness, prickling, or "pins and needles" Thinking and memory problems Facts • Multiple sclerosis (MS) is a nervous system disease that affects the brain and spinal cord.

  37. Julie’s Story • Julie had always been very independent and took great satisfaction in being able to run her own life • In her mid-thirties, she was diagnosed with Multiple Sclerosis • Her disease progressed rapidly. She experienced trouble walking and was reduced from using a cane to a wheelchair • By age 40, she was experiencing frequent falls at home, requiring her to call the fire department to assist her • She was admitted to the nursing home and struggled with the loss of her independent life.

  38. Julie’s Story • Julie’s vision became worse and her speech difficult to understand. • She had problems operating her power chair, and at one point she runs into another resident and a staff person • While everyone wanted Julie to be able to maintain her independence, they were also very concerned for her safety and that of others in the facility.

  39. Motivations • People suffering severe physical disabilities • Provide an aid to independence • Foster personal comfort • Provide intellectual engagement

  40. Comparison • Existing Technology • A robotics wheelchair for crowded public environment • Auto-navigation of a wheelchair • Self-Driving Wheelchair Module • Specifically designed to help elderly with severe physical disabilities • Can be easily installed onto existing electric wheelchairs without major modifications

  41. Production Cost Off-The-Shelf Microcontroller $230 Vision Sensor $50 RFID reader $2/Tag RFID tags

  42. Agenda • Project Management • System Overview • Implementation • System • Electrical • Our Business • Our Project • Future Development • Open Floor for Questions • Live Demo

  43. Our Project • Ditches • Timeline • Budget • Team Dynamics • Interpersonal and Technical Experience

  44. Ditches • Damaged servo pins • Burned microcontroller chip • Wheelchair joystick controller replacement • PID control calibration

  45. Budget

  46. Funding • Engineering Science Student Endowment Fund • Wighton Engineering Development Fund

  47. Milestones Time Line Proposed Time Line Actual Time Line Project Proposal Project Proposal Project Proposal Design Specifications Design Specifications Design Specifications Working Prototype Working Prototype Working Prototype January January January February February February March March March April April April Functional Specifications Functional Specifications Functional Specifications Assembly of Module / Integration Assembly of Module / Integration Assembly of Module / Integration

  48. Team Dynamics

  49. Interpersonal Experience • Team spirit • Time management • Product development phases

  50. Technical Experience • Systems and circuit design • Prototype building • Design for safety • Foresee potential problems

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