This document summarizes a paper presented at the NCCI 2010 conference on computational instrumentation in Chandigarh, India. The paper describes preliminary work developing an automated wheelchair controlled through eyeball and shoulder movements. Sensors detect eyeball position and direction through infrared light reflection. A capacitive sensor on the shoulder detects movement. Signals from these sensors direct the wheelchair's movement and an ultrasonic sensor detects obstacles. Testing on normal and hemiplegic patients found the sensors reliably detected eye and shoulder movements to control wheelchair direction. The system aims to help paralyzed people move independently through environments.
This paper depicts ultrasonic visually impaired strolling stay with the utilization of arduino. As indicated by WHO, Visually weakened can go from gentle extreme. Around the world, between 300 million individuals are outwardly impeded because of different causes. Roughly 50 million People are thoroughly Blind Approximately 80 of visual deficiency happens in individuals over 50years old enough. In the event that u notice them, you can think about it they cant stroll without the assistance of other. For Blind People with no Support Its Difficult to arrive at their Destination. They faces numerous issues in their day by day schedule everyday life. Vision misfortune was connected by methods for self destructive considerations of self destruction endeavors, in another investigation from south Korea. Individuals with visual Impairment regularly endure significant psychosocial results, the creators wrote in the British Journal Of Ophthalmology. Ophthalmology is a part of medication and medical procedure which manages the determination and therapy of eye issues. ShobhanaSonwane | PriyankaGaidhane | Diksha Mohane | Nikita Gajbhiye | Akansha Patil | Tasneem Hasan "Smart Blind Stick using Arduino" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-6 , October 2020, URL: https://www.ijtsrd.com/papers/ijtsrd33411.pdf Paper Url: https://www.ijtsrd.com/engineering/computer-engineering/33411/smart-blind-stick-using-arduino/shobhanasonwane
Light follower systems for visually impaired using visible light communicationTELKOMNIKA JOURNAL
Visual impairment is the condition of someone who has a disorder or an obstacle in their vision. In this research, the implementation of light follower systems for visually impaired using visible light is proposed. This system can enable visually impaired people to determine orientation and support mobility, especially in an indoor situation, using visible light. The prototype of the visually impaired pathway was made as visible light communication (VLC) transmitter consisting of a 12 V power supply, light emitting diode (LED), MPEG-1 Layer-3 (MP3), and band pass filter (BPF) filter circuit. The VLC receiver is made a prototype of a blind stick consisting of a photodiode, amplifier, buzzer, timer, and 9 V battery. The measurement of this system uses acrylic and color filters with system accuracy taking into account the angle and conditions when the fluorescent lights are turned on and off. This result showed the system could transmit audio signals at a frequency of 3000 Hz. Furthermore, the comparison results showed that the quality of measurements without using a filter is better than using a filter. The output voltage value without using a filter with an angle of 700 degree is 7.19 Vp-p, meanwhile using a filter with an angle of 700 degree is 6.48 Vp-p.
This paper depicts ultrasonic visually impaired strolling stay with the utilization of arduino. As indicated by WHO, Visually weakened can go from gentle extreme. Around the world, between 300 million individuals are outwardly impeded because of different causes. Roughly 50 million People are thoroughly Blind Approximately 80 of visual deficiency happens in individuals over 50years old enough. In the event that u notice them, you can think about it they cant stroll without the assistance of other. For Blind People with no Support Its Difficult to arrive at their Destination. They faces numerous issues in their day by day schedule everyday life. Vision misfortune was connected by methods for self destructive considerations of self destruction endeavors, in another investigation from south Korea. Individuals with visual Impairment regularly endure significant psychosocial results, the creators wrote in the British Journal Of Ophthalmology. Ophthalmology is a part of medication and medical procedure which manages the determination and therapy of eye issues. ShobhanaSonwane | PriyankaGaidhane | Diksha Mohane | Nikita Gajbhiye | Akansha Patil | Tasneem Hasan "Smart Blind Stick using Arduino" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-6 , October 2020, URL: https://www.ijtsrd.com/papers/ijtsrd33411.pdf Paper Url: https://www.ijtsrd.com/engineering/computer-engineering/33411/smart-blind-stick-using-arduino/shobhanasonwane
Light follower systems for visually impaired using visible light communicationTELKOMNIKA JOURNAL
Visual impairment is the condition of someone who has a disorder or an obstacle in their vision. In this research, the implementation of light follower systems for visually impaired using visible light is proposed. This system can enable visually impaired people to determine orientation and support mobility, especially in an indoor situation, using visible light. The prototype of the visually impaired pathway was made as visible light communication (VLC) transmitter consisting of a 12 V power supply, light emitting diode (LED), MPEG-1 Layer-3 (MP3), and band pass filter (BPF) filter circuit. The VLC receiver is made a prototype of a blind stick consisting of a photodiode, amplifier, buzzer, timer, and 9 V battery. The measurement of this system uses acrylic and color filters with system accuracy taking into account the angle and conditions when the fluorescent lights are turned on and off. This result showed the system could transmit audio signals at a frequency of 3000 Hz. Furthermore, the comparison results showed that the quality of measurements without using a filter is better than using a filter. The output voltage value without using a filter with an angle of 700 degree is 7.19 Vp-p, meanwhile using a filter with an angle of 700 degree is 6.48 Vp-p.
ARTIFICIAL RETINA USING THIN FILM TRANSISTORS DRIVEN BY WIRELESS POWER SUPPLYManiroop Badam
Artificial retinas have been ardently desired to recover the sight sense for sight-handicapped people. We have verified that an artificial retina using poly-Si TFTs can be driven by wireless power supply. It is confirmed that the irradiated light distribution can be reproduced as the output voltage distribution owing to the parameter optimization of the wireless power supply system.
India is now home to the world's largest number of blind people. Of 37 million people across the globe, 15 million blind people are from India. 75% of these are cases of avoidable blindness. On the other hand, while India needs2.5 lakh donated eyes every year, the country's 109 eye banks of which 5 located in Delhi manage to collect a maximum of just 25,000 eyes, 30% of which can't be used. Meanwhile, the shortage of donated eyes is becoming a huge problem. In 15 million blind people in India, three million that is 26% of whom are children who suffer due to corneal disorders. But only 10,000 corneal transplants are being done every year because of a shortage of donated eyes. The bionic eye aims to restore basic visual cues to people suffering from eye diseases such as retinitis pigmentosa, which is a genetic eye condition. A video camera fitted to a pair of glasses will capture and process images. These images are sent wirelessly to a bionic implant at the back of the eye which stimulates dormant optic nerves to generate points of light (phosphenes) that form the basis of images in the brain. Thus, even blind people can have a vision. The eye is a complex optical system that, like other organs, may become injured due to disease or injury. As such, various prosthetics have been designed to allow such people to regain their sight and enjoy a full life. This paper mostly covers the cornea, but it also covers the iris and the lens. Since someone else was researching artificial retinas, that will not be covered. The truth is, I really wanted to cover that, since there are many advances in that field, while still being in its infancy.
For those millions of us whose vision isn’t perfect, there are glasses. But for those hundreds of thousands who are blind, devices that merely assist the eyes just aren’t enough.. Technology has created many pathways for mankind. Now technology has improved to that extent wherein the entire human body can be controlled using a single electronic chip. We have seen prosthetics that helped to overcome handicaps. Now it is the turn of artificial vision through bionic eyes. Chips designed specially to imitate the characteristics of the damaged retina and the cones and rods of the organ of sight are implanted with microsurgery. Linking electronics and biotechnology, scientists have made the commitment to the development of technology that will provide or restore vision for the visually impaired around the world. Whether it is Biomedical, Computer, Electrical, or Mechanical Engineers all of them have a role to play in the personification of Bionic Eyes. There is hope for the blind in the form of bionic eyes. This technology can add life to their vision-less eyes.
Visual, navigation and communication aid for visually impaired person IJECEIAES
The loss of vision restrained the visually impaired people from performing their daily task. This issue has impeded their free-movement and turned them into dependent a person. People in this sector did not face technologies revamping their situations. With the advent of computer vision, artificial intelligence, the situation improved to a great extent. The propounded design is an implementation of a wearable device which is capable of performing a lot of features. It is employed to provide visual instinct by recognizing objects, identifying the face of choices. The device runs a pre-trained model to classify common objects from household items to automobiles items. Optical character recognition and Google translate were executed to read any text from image and convert speech of the user to text respectively. Besides, the user can search for an interesting topic by the command in the form of speech. Additionally, ultrasonic sensors were kept fixed at three positions to sense the obstacle during navigation. The display attached help in communication with deaf person and GPS and GSM module aid in tracing the user. All these features run by voice commands which are passed through the microphone of any earphone. The visual input is received through the camera and the computation task is processed in the raspberry pi board. However, the device seemed to be effective during the test and validation.
A SMART BRAIN CONTROLLED WHEELCHAIR BASED MICROCONTROLLER SYSTEMijaia
The main objective of this paper is to build Smart Brain Controlled wheelchair (SBCW) intended for patient of Amyotrophic Lateral Sclerosis (ALS). Brain control interface (BCI) gave solutions for a patients having a low rate of data exchange, alsoby using the BCIthe user should have the ability to meditate and tension to let the signal get received. Using the BCI continuously is very much exhausted for the patients, Theproposed system is trying to give all handicapped people and ALS patients the simplest way to let them have a life at least near to the normal life. The system will mainly depend on the Electroencephalogram (EEG) signalsand also on the Electromyography (EMG) signals to put the system in command and out of command. The system will interface with user through a tablet and it will be secured by sensors and tracking system to avoid any obstacle. The proposed system is safe and easily built with lower cost compared with other similar systems.
ARTIFICIAL RETINA USING THIN FILM TRANSISTORS DRIVEN BY WIRELESS POWER SUPPLYManiroop Badam
Artificial retinas have been ardently desired to recover the sight sense for sight-handicapped people. We have verified that an artificial retina using poly-Si TFTs can be driven by wireless power supply. It is confirmed that the irradiated light distribution can be reproduced as the output voltage distribution owing to the parameter optimization of the wireless power supply system.
India is now home to the world's largest number of blind people. Of 37 million people across the globe, 15 million blind people are from India. 75% of these are cases of avoidable blindness. On the other hand, while India needs2.5 lakh donated eyes every year, the country's 109 eye banks of which 5 located in Delhi manage to collect a maximum of just 25,000 eyes, 30% of which can't be used. Meanwhile, the shortage of donated eyes is becoming a huge problem. In 15 million blind people in India, three million that is 26% of whom are children who suffer due to corneal disorders. But only 10,000 corneal transplants are being done every year because of a shortage of donated eyes. The bionic eye aims to restore basic visual cues to people suffering from eye diseases such as retinitis pigmentosa, which is a genetic eye condition. A video camera fitted to a pair of glasses will capture and process images. These images are sent wirelessly to a bionic implant at the back of the eye which stimulates dormant optic nerves to generate points of light (phosphenes) that form the basis of images in the brain. Thus, even blind people can have a vision. The eye is a complex optical system that, like other organs, may become injured due to disease or injury. As such, various prosthetics have been designed to allow such people to regain their sight and enjoy a full life. This paper mostly covers the cornea, but it also covers the iris and the lens. Since someone else was researching artificial retinas, that will not be covered. The truth is, I really wanted to cover that, since there are many advances in that field, while still being in its infancy.
For those millions of us whose vision isn’t perfect, there are glasses. But for those hundreds of thousands who are blind, devices that merely assist the eyes just aren’t enough.. Technology has created many pathways for mankind. Now technology has improved to that extent wherein the entire human body can be controlled using a single electronic chip. We have seen prosthetics that helped to overcome handicaps. Now it is the turn of artificial vision through bionic eyes. Chips designed specially to imitate the characteristics of the damaged retina and the cones and rods of the organ of sight are implanted with microsurgery. Linking electronics and biotechnology, scientists have made the commitment to the development of technology that will provide or restore vision for the visually impaired around the world. Whether it is Biomedical, Computer, Electrical, or Mechanical Engineers all of them have a role to play in the personification of Bionic Eyes. There is hope for the blind in the form of bionic eyes. This technology can add life to their vision-less eyes.
Visual, navigation and communication aid for visually impaired person IJECEIAES
The loss of vision restrained the visually impaired people from performing their daily task. This issue has impeded their free-movement and turned them into dependent a person. People in this sector did not face technologies revamping their situations. With the advent of computer vision, artificial intelligence, the situation improved to a great extent. The propounded design is an implementation of a wearable device which is capable of performing a lot of features. It is employed to provide visual instinct by recognizing objects, identifying the face of choices. The device runs a pre-trained model to classify common objects from household items to automobiles items. Optical character recognition and Google translate were executed to read any text from image and convert speech of the user to text respectively. Besides, the user can search for an interesting topic by the command in the form of speech. Additionally, ultrasonic sensors were kept fixed at three positions to sense the obstacle during navigation. The display attached help in communication with deaf person and GPS and GSM module aid in tracing the user. All these features run by voice commands which are passed through the microphone of any earphone. The visual input is received through the camera and the computation task is processed in the raspberry pi board. However, the device seemed to be effective during the test and validation.
A SMART BRAIN CONTROLLED WHEELCHAIR BASED MICROCONTROLLER SYSTEMijaia
The main objective of this paper is to build Smart Brain Controlled wheelchair (SBCW) intended for patient of Amyotrophic Lateral Sclerosis (ALS). Brain control interface (BCI) gave solutions for a patients having a low rate of data exchange, alsoby using the BCIthe user should have the ability to meditate and tension to let the signal get received. Using the BCI continuously is very much exhausted for the patients, Theproposed system is trying to give all handicapped people and ALS patients the simplest way to let them have a life at least near to the normal life. The system will mainly depend on the Electroencephalogram (EEG) signalsand also on the Electromyography (EMG) signals to put the system in command and out of command. The system will interface with user through a tablet and it will be secured by sensors and tracking system to avoid any obstacle. The proposed system is safe and easily built with lower cost compared with other similar systems.
Wheelchair is truly is mobility orthosis.
A properly prescribed wheelchair can be useful device in reintegrating a person with a disability into the community.
International Journal of Engineering Research and Development (IJERD)IJERD Editor
journal publishing, how to publish research paper, Call For research paper, international journal, publishing a paper, IJERD, journal of science and technology, how to get a research paper published, publishing a paper, publishing of journal, publishing of research paper, reserach and review articles, IJERD Journal, How to publish your research paper, publish research paper, open access engineering journal, Engineering journal, Mathemetics journal, Physics journal, Chemistry journal, Computer Engineering, Computer Science journal, how to submit your paper, peer reviw journal, indexed journal, reserach and review articles, engineering journal, www.ijerd.com, research journals,
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Wearable Obstacle for Visually Impaired: Distance, Reflectivity, and Energy A...Onyebuchi nosiri
ABSTRACT: An infrared – based wearable indoor obstacle detector for the visually impaired was designed and implemented. Then, the significant effects and the relationship between the angle of incidence and distance traveled by the infrared rays, energy consumption and reflectivity of the surface, and battery life of the device, were compared using Matlab. The investigation was based on angle range of 0° to 45° and distance range of 50cmto10m. It was found that, at smaller angle, the distance travelled increased and more energy was consumed thereby reducing the battery life. Based on the above stated design considerations, the infrared device was implemented and sampled at an angle of 20° and 45° in order to show the effect of intensity and object distance to energy consumption rate. At an angle of 20°, at a distance of 0.4m, the energy consumed was 5J, at a distance of 0.5m, the energy consumed was 3J, at a distance of 0.8m, the energy consumed was 1J, at a distance of 1.2m, the energy consumed was 0.5J and at a distance of 2.7m, the energy consumed was 0.1J. Then, for an angle of 45°, at a distance of 0.1m, the energy consumed was 5J, at a distance of 0.16m, the energy consumed was 3J, at a distance of 0.26m, the energy consumed was 1J, at a distance of 0.42m, the energy consumed was 0.5J and at a distance of 0.8m, the energy consumed was 0.1J. The reflectivity of different surface properties was also evaluated. It was observed that Yellow Smooth Body (YSB) reflected more than other surfaces at an intensity of 0.99 (W/M2) while the Black-Surface (BS) reflected less at an intensity of 0.1(W/M2).
Actual radar systems are built with high-power transmitters and receivers, huge antennae, complex processing systems using digital signal processors and large displays.
The system can monitor an area of limited range and alerts authorities with a buzzer as an alarm. For this purpose we use a microcontroller circuit that is connected to an ultrasonic sensor mounted on a servo motor for monitoring.
This microcontroller based ultrasonic radar circuit demonstrates the working of a radar system. It uses ultrasonic waves to detect an object and measure its distance and displays the same on a 16*2 LCD screen.
Sensor Stick walking aid for the blindsIJRES Journal
In this paper, few methods of aiding and guiding visually impaired persons are presented. They are analyzed and studied thoroughly. Some commercially available systems help in aiding people with disabilities of seeing and give information refereeing to the location of the users. We propose an intelligent” stick equipped with an ultrasonic sensor that takes information about the environment. This information is processed and is delivered to the handle stick and thus can be interpreted by the users. The stick will produce beeping sound with varying speed according to the distances of obstacles. This stick will provide assists to visually impaired persons by providing informations related to obstacles distances. This device was tested with blind persons and results are presented.
A novel efficient human computer interface using an electrooculogrameSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Third Eye for Blind Ultrasonic Vibration Gloves.pptxkayvyyyy
The concept of a “Third eye for Blind" typically refers to a wearable device that helps individuals who are visually impaired to navigate their surroundings more easily. One such device is an ultrasonic vibrator glove.
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
JMeter webinar - integration with InfluxDB and GrafanaRTTS
Watch this recorded webinar about real-time monitoring of application performance. See how to integrate Apache JMeter, the open-source leader in performance testing, with InfluxDB, the open-source time-series database, and Grafana, the open-source analytics and visualization application.
In this webinar, we will review the benefits of leveraging InfluxDB and Grafana when executing load tests and demonstrate how these tools are used to visualize performance metrics.
Length: 30 minutes
Session Overview
-------------------------------------------
During this webinar, we will cover the following topics while demonstrating the integrations of JMeter, InfluxDB and Grafana:
- What out-of-the-box solutions are available for real-time monitoring JMeter tests?
- What are the benefits of integrating InfluxDB and Grafana into the load testing stack?
- Which features are provided by Grafana?
- Demonstration of InfluxDB and Grafana using a practice web application
To view the webinar recording, go to:
https://www.rttsweb.com/jmeter-integration-webinar
Epistemic Interaction - tuning interfaces to provide information for AI supportAlan Dix
Paper presented at SYNERGY workshop at AVI 2024, Genoa, Italy. 3rd June 2024
https://alandix.com/academic/papers/synergy2024-epistemic/
As machine learning integrates deeper into human-computer interactions, the concept of epistemic interaction emerges, aiming to refine these interactions to enhance system adaptability. This approach encourages minor, intentional adjustments in user behaviour to enrich the data available for system learning. This paper introduces epistemic interaction within the context of human-system communication, illustrating how deliberate interaction design can improve system understanding and adaptation. Through concrete examples, we demonstrate the potential of epistemic interaction to significantly advance human-computer interaction by leveraging intuitive human communication strategies to inform system design and functionality, offering a novel pathway for enriching user-system engagements.
Software Delivery At the Speed of AI: Inflectra Invests In AI-Powered QualityInflectra
In this insightful webinar, Inflectra explores how artificial intelligence (AI) is transforming software development and testing. Discover how AI-powered tools are revolutionizing every stage of the software development lifecycle (SDLC), from design and prototyping to testing, deployment, and monitoring.
Learn about:
• The Future of Testing: How AI is shifting testing towards verification, analysis, and higher-level skills, while reducing repetitive tasks.
• Test Automation: How AI-powered test case generation, optimization, and self-healing tests are making testing more efficient and effective.
• Visual Testing: Explore the emerging capabilities of AI in visual testing and how it's set to revolutionize UI verification.
• Inflectra's AI Solutions: See demonstrations of Inflectra's cutting-edge AI tools like the ChatGPT plugin and Azure Open AI platform, designed to streamline your testing process.
Whether you're a developer, tester, or QA professional, this webinar will give you valuable insights into how AI is shaping the future of software delivery.
Generating a custom Ruby SDK for your web service or Rails API using Smithyg2nightmarescribd
Have you ever wanted a Ruby client API to communicate with your web service? Smithy is a protocol-agnostic language for defining services and SDKs. Smithy Ruby is an implementation of Smithy that generates a Ruby SDK using a Smithy model. In this talk, we will explore Smithy and Smithy Ruby to learn how to generate custom feature-rich SDKs that can communicate with any web service, such as a Rails JSON API.
Neuro-symbolic is not enough, we need neuro-*semantic*Frank van Harmelen
Neuro-symbolic (NeSy) AI is on the rise. However, simply machine learning on just any symbolic structure is not sufficient to really harvest the gains of NeSy. These will only be gained when the symbolic structures have an actual semantics. I give an operational definition of semantics as “predictable inference”.
All of this illustrated with link prediction over knowledge graphs, but the argument is general.
How world-class product teams are winning in the AI era by CEO and Founder, P...
Automation of wheel chair using ultrasonics and kinematics03
1. NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010
AUTOMATION OF WHEEL CHAIR USING ULTRASONICS AND BODY
KINEMATICS
Preethika Britto,Indumathi.J,Sudesh Sivarasu,Lazar Mathew
School of Biosciences and Technology
VIT University-Vellore
preethikabritto@yahoo.co.in
Abstract— Physically disabled persons find their movements very tough with the existing assistive devices. Though
there are many robotics available in recent times to enable their motility they require fine and accurate control which
is most of the times not possible in cases of higher disability. These robots are very efficient and enable the user to
move around with ease. In recent times there have been various control systems developing specialized for people
with various disorders and disabilities. This paper reports the preliminary work in developing a robotic wheelchair
system that involves the movement of eyeball and shoulder kinematics in directing the wheel chair. The system
enables the patient to have command over the robot, its direction of movement and will also sense and alarm the user
about the obstacles in the path to avoid collision. This wheelchair helps the patient to move in environments with
ramps and doorways of little space. This work is based on previous research in robot path planning and mobile
robotics, generally a robot should be interactive, and robotic wheelchairs must be highly interactive to enable the
system to work most efficiently.
Keywords: eyeball control, wheel chair automation, rehabilitation, IR sensing, shoulder control, capacitive sensing,
Hemiplegic rehabilitation, ultrasonic intruder sensing.
1. INTRODUCTION the movement of eyeball and shoulder kinematics in
Assistive robotics is improving the lifestyle of the directing the wheel chair.
physically challenged people to a great extent. In recent The system enables the patient to have command over
times there have been a wide range of assistive and the robot its direction of movement and will also sense
guidance systems available in robotics to make their and alarm the user about the obstacles in the path to
life less complicated and motile. These robots in are avoid collision.
very efficient and enable the user to move around with This wheelchair helps the user to move in environments
ease. In recent times there have been various control with ramps and doorways of little space. This work is
systems developing specialized for people with various based on previous research in robotics, generally a
disorders and disabilities. The systems that are robot should be interactive, and robotic wheelchairs
developed are highly competitive in replacing the old must be highly interactive to enable the system to work
traditional systems. most efficiently.
There are many assistive systems using visual aids The whole paper is divided into the following sections.
like videooculography systems, infrared oculography, Section 2 describes the principle behind the eye ball
eyeball sensing using electrooculography and much sensing, Section 3 about principle behind the shoulder
more. There are even systems based on voice movements, Section 4 shows the ultrasonic intruder
recognition too. The basic assisting using voice control sensing mechanism. In Section 5 the overall control
is to detect basic commands using joystick or tactile system is commented with results.
screen. These applications are quite popular among
people with limited upper body motility. There are 2. PRINCIPLE OF EYEBALL SENSING
certain drawbacks in these systems. They cannot be The basic principle of this direction sensing is the
used by people of higher disability because they require colour of the eyes. There are two main colour pigments
fine and accurate control which is most of the time not in the human eyes. i.e., black and white. The colours
possible. This paper reports the preliminary work in show different wavelengths in the spectrum. White
developing a robotic wheelchair system that involves being the farthest colour in emits the lowest
wavelength. So the wavelength of white light is chosen
37
2. NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010
as the standard parameter. White light can be measured The Eye ball position is detected with reference to the
by infrared sensors. The wavelength of the white Iris. Harmless 950nm wave length IR Transmitter and
portion if the eye varies from 600nm to 640 nm.[2] The IR detectors are used to sense the position of the Eye
infrared light ray measures and reflects the wavelength ball. The Tx , Rx sensors are positioned in such a way
emitted by the white portion and based on that the to sense the position of Iris Up/Down, Left/Right
eyeball sensor is constructed.
Figure 1: Electromagnetic Spectrum Figure 3: connectivity with wheel chair
The Infrared sensors are placed on either side of the 3. PRINCIPLE OF SHOULDER SENSING
eyes fixed in goggles. The whole circuitry is fitted
The overall block diagram of the project is
inside a table-top instrument which is connected to the
spectacles through a long flexible cable which performs
the analysis, processing and amplification of the signals
derived from the sensor’s eye-ball movements. Both
eyes are lit up by the energy from the Infrared Light-
Emitting Diode (IRLED) sections. The silicon
phototransistors and the IR sources are mounted in front
of the eyes so that the obstruction of the field of view is
minimized and the capability to accurately monitor the
position of the eye is maintained
Figure 4: Overall block diagram of the intellichair.
This sensor is formed by two metallic electrodes wound
on a non-metal tube with insulation between electrodes
Figure 2: The Eyeball Sensor on goggles to form much like an open capacitor. These electrodes
are placed in a feedback loop of a high frequency
oscillator. When no material is present inside the tube,
SPECIFICATION: the sensor capacitance is low. Therefore, the oscillator
• Supply 12v DC Ripple free amplitude is small. When any material is present, the
• Analog O/P 2-3v variation capacitance value will increase resulting in increased
• Repeatability 10% amplitude of the oscillator. Depending on the dielectric
• Switch O/P 100mA NPN switch constant of the material, the amplitude varies. The
• LED indication for switch O/P evaluating circuit will give the analog output
proportional to the dielectric constant of the material.
38
3. NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010
The amplitude of oscillation is measured by an always greater than the capacitance of the circuit in the
evaluating circuit that generates a signal to turn on or absence of the target.
off the output.
SPECIFICATION
Supply voltage - 12v DC
OP switching - 100mA
OP analog - 6-12V DC
Hysterics - 10%
Dimension - 90*63*40mm
Capacitance is a function of the surface area of either
electrode A or B, the distance between the electrodes
(d) and the dielectric constant of the material (E)
between the electrodes.
C = (E x A)/d
Where C = capacitance of the sensor
A = surface area of either electrode
d = distance between two electrodes Figure 6: Capacitance sensor (shoulder)
E = dielectric constant of the material between the
4. THE OVERALL CONTROL SYSTEM USING
electrodes
MOVEMENTS
The eyeball sensor is fitted on to the patient and the
wavelength of white portion is recorded. Then when
the patient wants to move right side, his left eye shows
no variation in wavelength but in the left eye the black
portion is sensed by the sensor which leads to decrease
in the wavelength which automatically indicates to the
wheel chair the direction it has to in. the same
mechanism happens in the right eye too.
Figure 5: Capacitance principle
When the target approaches the sensor’s field, it acts as
an electrode to the face of the sensor, and decreases the
distance between the electrodes (d), thereby it increases
the average surface area of the electrodes.
The capacitance with a metal target is always greater
than the capacitance of the circuit in the absence of the
target. When a non conductive target enters the
Figure 7: the overall view of the eyeball sensor
sensor’s field, it acts as an electrical insulator between
electrode A and B. The wheel chair works in the mechanism of two input
The dielectric constant of the material (E) is a measure one output. Inputs from the eyeball sensor and the
of its insulation properties. All liquids and solids have a pressure sensor placed on the shoulder are taken and
greater dielectric constant than air (E air =1). Therefore antagonistically and fed to the PIC microcontroller
the capacitance with a nonmetallic target present is which is programmed to move across the direction
required.
39
4. NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010
This intellichair is designed to help the paralyzed the sensor. They are generated by a transmitter and
person who moves on a wheel chair, instead of the reflected by the target. The returning waves are
handicapped person moving the wheel chair by his detected by a receiver. The time delay is used to
hand, the chair will automatically move to a particular measure the distance to the object. The farther away an
direction as the patient moves his eyes towards a object is, the longer it takes the sound wave to
direction, with the help of Eye ball movement detection propagate.
sensor and lifts his shoulder by the shoulder sensor.
The chair will also sense the obstacles in front of it and
gives a beep sound and stop before it automatically.
This is sensed by the ultrasonic sensor. The details
regarding the construction of this chair includes the
following
Model: A prototype model which symbolizes the
wheel chair is constructed using the MS Sheet
Master Controller: A Micro controller will act as a
master controller for the movement of the robot. It is
responsible for all the decisions taken by the robot.
Eye ball Movement Sensor: This is used to sense the
movement of the eye ball’s direction and converts it
into digital data and transfers it to the Master controller.
(Straight Command, Left/Right Command, Stop
Command)
Figure8: Ultrasonic principle
Shoulder Movement Sensor: This is used to sense the This sensor senses the obstacle in the way and stops 30
movement of the shoulder. This is tuned to receive two cm before it. So the wheel chair is fool proof against
commands i.e., up and down. This signal is transferred obstacles on the way of the wheel chair. This enables
to the Master controller. the disabled person to move freely around in the
environment without any dangers. The patient can be
OptoCoupler with Stepper Driver Board. The need left on their own to move freely in the limited area.
of Opt coupler is to isolate the Interface Board form the
Stepper Motor to restrict any high voltage to the 5 RESULTS:
Interface board. And this board also contains stepper The eyeball sensor was tested with various samples
Driver circuit to amplify the Voltage and to withstand against normal and hemiplegic patients. The following
high current because the pulse coming out from the results were obtained, they were found to be almost
Interface is not tough enough to drive the Motor. stable and reliable.
Stepper Power Supply. This board contains the power Case 1:
Supply for the stepper motor and relay driver. Subjects of different age groups were subjected to the
eye ball sensor and results are plotted.
Software Driver in Hitech C. This is a software tool
used to control the angular position i.e., to send
specified pulses with controlled timing to vary the
speed as when and where require
Ultrasonic sensor: Ultrasonic sensor is another way to
make non-contact distance measurements. It works by
the principle of measuring the time a sound wave takes
to propagate from the sensor, to an object and back to
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5. NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010
Case 1(a):
Subjects of different age groups were subjected to the
shoulder sensor and results are plotted.
32
Normal subjects
31.5
Muscle response in mv
31
30.5
30
29.5
29
28.5
20 22 24 32 43
Age of subjects
Case 2: Case 2: The shoulder sensor was tested on a
The eye ball sensor was tested on a hemiplegic patients hemiplegic patients and the results were plotted as
and the results were plotted as
Paralysed Subjects
30.2
30
29.8
Muscle response in mv
29.6
29.4
29.2
29
28.8
28.6
28.4
27 35 37
The shoulder sensor was tested with various samples
against normal and hemiplegic patients. The following Age of subjects
results were obtained, they were found to be almost
stable and reliable.
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6. NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010
4. Face Tracking using an adaptive skin colour model.
6.DISCUSSION L.M. Bergasa et al. Third International ICCS
Based on the results obtained we conclude that the Symposia on Intelligent Automation (IIA´99) and
Soft Computing (SOCO´99). Genova. Italia. Junio
eyeball response and shoulder towards normal subjects
1999.
and hemiplegic patients is very prominent and gives a
wide range of movements. Thus the wheel chair moves 5. EagleEyes Project. James Gips, Philip DiMattia,
in all required directions with good response. Francis X. Curran and Peter Olivieri. Computer
• There is very slight variation in the responses Science Department, Boston College. Chestnut Hill,
of eye ball sensor in the case of normal subject Mass. USA.
to hemiplegic patient i.e., in the order of 0.5
6. Manual de técnicas de Electrofisiología clínica.
mv M.C. Nicolau, J. Burcet, R.V. Rial. University of
• There is no big difference in the shoulder Islas Baleares.
sensor response when tested on normal
subjects and patients i.e., the activity of the 7. A robust eye gaze tracking method based on a
sensor depends on the muscle movement of virtual eyeball model, Journal Machine Vision and
the subject so the range can be narrowed Applications Publisher Springer Berlin / Heidelberg
ISSN 0932-8092 (Print) 1432-1769 (Online)
according to the subject using the wheel chair.
8. Brown, M., Marmor, M. and Vaegan, ISCEV
7. CONCLUSION Standard for Clinical Electro-oculography (EOG)
This work forwards towards the development of a (2006), in: Documenta Ophthalmologica,
usable, low-cost assistive robotic wheelchair system for 113:3(205--212)
disabled people. This system can be used to control the
handicapped, especially those with only eye-motor and 9. It's in Your Eyes - Towards Context-Awareness
and Mobile HCI Using Wearable EOG Goggles,
shoulder coordination, to live more independent lives. Proc. of the 10th International Conference on
Eye and shoulder movements and require minimal Ubiquitous Computing (UbiComp 2008), Seoul,
effort and allow direct selection techniques, this South Korea, pages 84-93, ACM Press, September
increase the response time and the rate of information 2008
flow. Some of the previous wheelchair robotics
research are restricted a particular location and in many 10. Robust Recognition of Reading Activity in Transit
Using Wearable Electrooculography, Proc. of the
areas of robotics, environmental assumptions can be
6th International Conference on Pervasive
made that simplify the navigation problem. However, a Computing (Pervasive 2008), Sydney, Australia,
person using a wheelchair and eyeball technique should pages 19-37, Springer, May 2008
not be limited by the device intended to assist them if
the environment have accessible features. 11. Wearable EOG goggles: Seamless sensing and
context-awareness in everyday environments,
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