The base arm is made of aluminum sheet of 2.5’’*2.5’’*6’’ size.
Shoulder link is made of aluminum rod of 11’’ length.
Elbow link is made of aluminum rod of 6’’ length.
Wrist link is made of aluminum rod of 4’’ length.
Spoon is made of aluminum sheet of 5’’ length.
All the links are joined using aluminum brackets and bolts.
Circuit Design:
The circuit consists of:
ATMEL 89S52 Microcontroller
Shirsha Yaathra - Head Movement controlled Wheelchair - Research PaperChamila Wijayarathna
The document describes a project to develop a wheelchair mobility control system that is controlled by head movements for an army officer who has lost motor control below his neck. A tilt sensor is used to track head movements and send signals to an Arduino board which controls the wheelchair motors. Voice commands are also used for control. Ultrasonic sensors were added for obstacle detection and avoidance. The prototype was successfully tested and provides mobility for disabled individuals unable to use standard wheelchairs.
Design of wheelchair using finger operation with image processing algorithmseSAT Publishing House
The document describes the design of a finger-operated wheelchair using digital image processing and embedded technology. The system would allow handicapped individuals to control a wheelchair through finger gestures detected by a camera and processed by a microcontroller. The wheelchair would be navigated based on finger position analysis and gesture recognition algorithms to move the wheelchair forward, backward, left, and right.
Design of wheelchair using finger operation with image processing algorithmseSAT Journals
Abstract This paper may be helpful in making the living of handicapped people easy which will be helpful for the handicapped people to drive their wheelchair through figure operation. It is an opportunity to be a handicapped as independent. System comprises of integration of finger operation using digital image processing and embedded technology.According to the World Health Organization (WHO), between the 7 and 10% of the population worldwide suffer from some physical disability. In Latin-America the physically disabled are estimated in 55 million people, which represent the 9% of its total population. This census indicates that the most common disability is motor, followed by blindness, deafness, intellectual and language. All alone, the motor-disabled achieve 20 million in Latin-America and there is an anticipated continued growth due to increasing aging, longevity and accident related injuries. Wheelchairs make up a significant portion of the mobility assistive devices in use for those. Since the 1930s, the design concept of a wheelchair has been the same: a main frame, two large rear wheels and two small front wheels called casters. This basic design has been used to develop many of today’ wheelchairs by applying slight design modifications to produce lighter, more durable and more comfortable wheelchairs for people who use them on a daily basis. Finally it means that is affordable and beneficial by the people. Keywords: Digital Image Processing, Embedded Technology, Finger operated Wheelchair
This document provides a summary of approaches to obstacle detection in images. It discusses 6 different techniques: 1) Using 3D grids and 2D grids with stereo vision, 2) A sequence of filters including ground/non-ground segmentation, background subtraction, size and appearance/shape filters, 3) An algorithm using disparity images, 4) Haar-like features with a cascade classifier, 5) Fast human detection using depth images, and 6) Using "equivalent points". Each technique is analyzed in 1-2 paragraphs with figures to illustrate key aspects.
Design and Development of Secure Navigation System for Visually Impaired Peopleijcsit
The proposed work presents a navigation system, which detects the obstacles and also guide to visually impaired people about appropriate path. The system we propose detects the obstacle via an infrared based detecting system and sends back vibro-tactile or sound (buzzer) feedback to inform the user about its position. The most common method of obstacle detection, used by blind people is the walking stick. The limitation of walking stick is that, it does not provide protection near to head area. A sensor module is fixed on a light weight cap allowing the user to obtain the information about obstacles (near to head area) and also about correct path on which the user should move. When the user uses this system with cane, he is fully protected about obstacles and can navigate freely into the environment.
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.
The document describes an automated innovative wheelchair that is controlled by the neck position of the user. It uses infrared LEDs and photosensors to detect neck movement and generate control signals. The signals are encoded and transmitted to a receiver section that controls the wheelchair motors. This system allows quadriplegic patients and others unable to use their hands or voice to control a wheelchair through simple neck movements. It provides an affordable alternative to existing wheelchairs controlled by joysticks, eye tracking, voice, or other methods.
Autosizing Control Panel for Needle BearingIJERA Editor
A needle roller bearing is a bearing which uses small cylindrical rollers. Bearings are used to reduce friction of
any rotating surface. Needle bearings have a large surface in contact with the bearing outer surfaces as
compared to ball bearings. There is less added clearance(Diameter of the shaft and the diameter of the bearing
are different) so they are much compact. The structure consists of a needle cage which contains the needle
rollersthemselves and an outer race (The housing itself). Radial bearings are cylindrical and they use rollers
parallel to the axis of the shaft. Radial pattern of needle are being used by thrust needles. Complement bearings
have solid inner as well as outer rings and rib-guided cylindrical rollers. The bearings have the largest number
of rolling elements and also have extremely high radial load carrying capacity and are suitable for compact
designs.Needle roller bearings have relatively small diameter cylindrical rolling elements whose length is much
larger than their diameter. As compared to other types of rolling bearings, needle roller bearings possess a small
cross-sectional height and significant load-bearing capacity and rigidity relative to their volume. Also, because
the inertial force acting on them is limited, needle bearings are an ideal choice for applications with oscillating
motion. These bearings also work well in compact and lightweight machine designs and they serve as a ready
replacement for sliding bearings. Needle bearings features are great rigidity, smaller cross-section, higher loadcarrying
capacity, and has lower inertia forces that facilitate to size and weight reductions in machinery. Needle
bearings are designed to stand in oscillation, performwell under any conditions, and interchange with the sliding
of bearings.
Shirsha Yaathra - Head Movement controlled Wheelchair - Research PaperChamila Wijayarathna
The document describes a project to develop a wheelchair mobility control system that is controlled by head movements for an army officer who has lost motor control below his neck. A tilt sensor is used to track head movements and send signals to an Arduino board which controls the wheelchair motors. Voice commands are also used for control. Ultrasonic sensors were added for obstacle detection and avoidance. The prototype was successfully tested and provides mobility for disabled individuals unable to use standard wheelchairs.
Design of wheelchair using finger operation with image processing algorithmseSAT Publishing House
The document describes the design of a finger-operated wheelchair using digital image processing and embedded technology. The system would allow handicapped individuals to control a wheelchair through finger gestures detected by a camera and processed by a microcontroller. The wheelchair would be navigated based on finger position analysis and gesture recognition algorithms to move the wheelchair forward, backward, left, and right.
Design of wheelchair using finger operation with image processing algorithmseSAT Journals
Abstract This paper may be helpful in making the living of handicapped people easy which will be helpful for the handicapped people to drive their wheelchair through figure operation. It is an opportunity to be a handicapped as independent. System comprises of integration of finger operation using digital image processing and embedded technology.According to the World Health Organization (WHO), between the 7 and 10% of the population worldwide suffer from some physical disability. In Latin-America the physically disabled are estimated in 55 million people, which represent the 9% of its total population. This census indicates that the most common disability is motor, followed by blindness, deafness, intellectual and language. All alone, the motor-disabled achieve 20 million in Latin-America and there is an anticipated continued growth due to increasing aging, longevity and accident related injuries. Wheelchairs make up a significant portion of the mobility assistive devices in use for those. Since the 1930s, the design concept of a wheelchair has been the same: a main frame, two large rear wheels and two small front wheels called casters. This basic design has been used to develop many of today’ wheelchairs by applying slight design modifications to produce lighter, more durable and more comfortable wheelchairs for people who use them on a daily basis. Finally it means that is affordable and beneficial by the people. Keywords: Digital Image Processing, Embedded Technology, Finger operated Wheelchair
This document provides a summary of approaches to obstacle detection in images. It discusses 6 different techniques: 1) Using 3D grids and 2D grids with stereo vision, 2) A sequence of filters including ground/non-ground segmentation, background subtraction, size and appearance/shape filters, 3) An algorithm using disparity images, 4) Haar-like features with a cascade classifier, 5) Fast human detection using depth images, and 6) Using "equivalent points". Each technique is analyzed in 1-2 paragraphs with figures to illustrate key aspects.
Design and Development of Secure Navigation System for Visually Impaired Peopleijcsit
The proposed work presents a navigation system, which detects the obstacles and also guide to visually impaired people about appropriate path. The system we propose detects the obstacle via an infrared based detecting system and sends back vibro-tactile or sound (buzzer) feedback to inform the user about its position. The most common method of obstacle detection, used by blind people is the walking stick. The limitation of walking stick is that, it does not provide protection near to head area. A sensor module is fixed on a light weight cap allowing the user to obtain the information about obstacles (near to head area) and also about correct path on which the user should move. When the user uses this system with cane, he is fully protected about obstacles and can navigate freely into the environment.
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.
The document describes an automated innovative wheelchair that is controlled by the neck position of the user. It uses infrared LEDs and photosensors to detect neck movement and generate control signals. The signals are encoded and transmitted to a receiver section that controls the wheelchair motors. This system allows quadriplegic patients and others unable to use their hands or voice to control a wheelchair through simple neck movements. It provides an affordable alternative to existing wheelchairs controlled by joysticks, eye tracking, voice, or other methods.
Autosizing Control Panel for Needle BearingIJERA Editor
A needle roller bearing is a bearing which uses small cylindrical rollers. Bearings are used to reduce friction of
any rotating surface. Needle bearings have a large surface in contact with the bearing outer surfaces as
compared to ball bearings. There is less added clearance(Diameter of the shaft and the diameter of the bearing
are different) so they are much compact. The structure consists of a needle cage which contains the needle
rollersthemselves and an outer race (The housing itself). Radial bearings are cylindrical and they use rollers
parallel to the axis of the shaft. Radial pattern of needle are being used by thrust needles. Complement bearings
have solid inner as well as outer rings and rib-guided cylindrical rollers. The bearings have the largest number
of rolling elements and also have extremely high radial load carrying capacity and are suitable for compact
designs.Needle roller bearings have relatively small diameter cylindrical rolling elements whose length is much
larger than their diameter. As compared to other types of rolling bearings, needle roller bearings possess a small
cross-sectional height and significant load-bearing capacity and rigidity relative to their volume. Also, because
the inertial force acting on them is limited, needle bearings are an ideal choice for applications with oscillating
motion. These bearings also work well in compact and lightweight machine designs and they serve as a ready
replacement for sliding bearings. Needle bearings features are great rigidity, smaller cross-section, higher loadcarrying
capacity, and has lower inertia forces that facilitate to size and weight reductions in machinery. Needle
bearings are designed to stand in oscillation, performwell under any conditions, and interchange with the sliding
of bearings.
The document outlines design ideas for several products, including furniture for rural Indian schools, bedside storage for hospitals, aids for spastic children, and a mini refrigerator. It also proposes an aid to assist elderly patients with defecation using an inflatable pneumatic principle. The furniture for schools is intended to provide support for study materials while being light and compact for carrying. The bedside storage is meant to allow for free movement, easy access, and stacking. The aid for spastic children involves customized rubberwood furniture. The mini refrigerator features a revolving bottle storage and folding trays.
The document describes a MATLAB workshop proposal from M-LABS aimed at university students. The 4-module workshop covers basic MATLAB programming, digital image processing, digital signal processing, and communication systems. It provides hands-on experience and training in MATLAB toolbox applications for research. Participants will gain comprehensive MATLAB knowledge and skills to solve problems in signals, images, and communications. The workshop includes materials, projects, career guidance, and competitions with prizes.
This document proposes a social network where users communicate through sharing stories. It would be inspired by One Thousand and One Nights, which used a frame story technique to combine folktales. Users would post short stories that build upon each other, with one character's story triggering the start of another by a different user. This could create an endless, collaborative story told by many authors in a never-ending style.
Ramadan is the ninth month of the Islamic lunar calendar and is considered the holiest month of the year for Muslims. It is a time for fasting, prayer, and reflection. During Ramadan, Muslims are not permitted to eat or drink from dawn to dusk. They break their fast each evening with dates and water before gathering for a large family meal. The fast helps Muslims practice self-control and empathy for those without enough food. Ramadan culminates in the three-day festival of Eid al-Fitr, where people donate food to the poor, gather with family and friends for prayer and feasting, and exchange gifts and greetings of "Happy Eid!"
The document provides information about using an Atmel 89S52 microcontroller to control servo motors. It includes sections about servo motors, the Atmel 89S52 microcontroller, and sample Keil code. The Atmel 89S52 has features like 8K bytes of flash memory, 256 bytes of RAM, timers/counters, and I/O ports that make it suitable for controlling servo motors. The Keil code section implies the document contains or references code written for the Atmel 89S52 in Keil software.
Caribees singing and dancing by the Association was held on June 1 at the Chinese Cultural Centre. Now in its 30th year of continuous entertainment and theme for 2013 the Association was together again.
Ramadan is the ninth month of the Islamic lunar calendar and is considered the holiest month of the year for Muslims. It is a time for fasting, prayer, and reflection. During Ramadan, Muslims are not permitted to eat or drink from dawn to dusk. They break their fast in the evening with dates and water before having a large family meal. The fast helps Muslims practice self-control and empathy for those without enough food. Ramadan culminates in Eid al-Fitr, a three day celebration where food is donated to the poor and friends and family gather for prayers, meals, gifts, and festivities to mark the end of fasting.
The smallest positive guess for which the Newton method diverges for the function f(x)=atan(x) is 1.4. The Newton method was able to find the root for guesses up to 1.39 but produced a divide by zero error at 1.4, indicating that 1.4 is the smallest positive value where the method diverges.
The false position method is a root-finding algorithm that uses linear interpolation to estimate the root of a function. It improves upon the bisection method by using the function values at the endpoints of the interval rather than just their signs. The method chooses the intercept of the secant line through the two endpoints as the next approximation of the root, and continues iteratively narrowing the interval until the root is found.
ACCELEROMETER BASED HAND GESTURE CONTROLLED ROBOT USING ARDUINOSnehasis Mondal
WORKING ARDUINO CODE:
/* * Gesture Recognition Robot * Coder – Raj,Rajib,Saity,Snehasis * This program lets you to control your robot with gesture made by your hand */ int GNDPin=A4; //Set Analog pin 4 as GND int VccPin=A5; //Set Analog pin 5 as VCC int xPin=A3; //X axis input int yPin=A2; //Y axis input int zPin=A1; //Z axis input(not used) int Q1=10,Q2=11,Q3=12,Q4=13; //Output pins to be connected to 10, 11, 12, 13 of Decoder IC long x; //Variabe for storing X coordinates long y; //Variabe for storing Y coordinates long z; //Variabe for storing Z coordinates void setup() { Serial.begin(9600); pinMode(Q1,OUTPUT); pinMode(Q2,OUTPUT); pinMode(Q3,OUTPUT); pinMode(Q4,OUTPUT); pinMode(GNDPin, OUTPUT); pinMode(VccPin, OUTPUT); digitalWrite(GNDPin, LOW); //Set A4 pin LOW digitalWrite(VccPin, HIGH); //Set A5 pin HIGH } void loop() { x = analogRead(xPin); //Reads X coordinates y = analogRead(yPin); //Reads Y coordinates z = analogRead(zPin); //Reads Z coordinates (Not Used) if(x<340) // Change the value for adjusting sensitivity forward(); else if(x>400) // Change the value for adjusting sensitivity backward(); else if(y>400) // Change the value for adjusting sensitivity right(); else if(y<340) // Change the value for adjusting sensitivity left(); else stop_(); } void stop_() { Serial.println(""); Serial.println("STOP"); digitalWrite(Q1,LOW); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,LOW); } void forward() { Serial.println(""); Serial.println("Forward");
digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void backward() { Serial.println(""); Serial.println("Backward"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); } void left() { Serial.println(""); Serial.println("Left"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void right() { Serial.println(""); Serial.println("Right"); digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); }
This document describes a smart wheelchair system for physically handicapped individuals using a tilt sensor and wireless communication. The system includes a transmitter mounted on the user's hand that detects tilt movements using an accelerometer. The transmitter sends wireless control signals to a receiver mounted on the wheelchair. The receiver then controls the wheelchair's motion based on the control signals, allowing users to steer the chair with hand movements. The system aims to give handicapped individuals more independence and mobility through a wireless tilt-based control mechanism.
The document outlines a project proposal for developing an Arduino-controlled robotic arm. It includes sections on motivation, aims and objectives, literature review, block diagram, hardware and software requirements, circuit diagram, interfacing diagram, component specifications, timeline, advantages and limitations, conclusions, and references. The overall goal is to create a simple robotic arm that can be programmed to perform repetitive tasks as a way to increase productivity in industrial settings.
Microcontroller Based Food-Mixing MachineIRJET Journal
This document describes a microcontroller-based food mixing machine that can automatically mix ingredients for bhel (a Indian snack) based on user inputs for taste and quantity. The machine uses a microcontroller, motors to mix ingredients, and a keypad and LCD for user input and output. It aims to reduce manual labor needed for food mixing by automating the process and ensuring consistent quality and proportions of ingredients for each batch mixed.
Gesture control wheel chair cum stretcherIRJET Journal
This document summarizes a research paper on developing a gesture-controlled wheelchair and stretcher system. The system uses accelerometers and microcontrollers to detect hand gestures and control electric motors that move the wheelchair in directions like left, right, forward, and brake. It can also convert the wheelchair into a stretcher by adjusting the seat height with actuators. The goal is to create a hands-free mobility aid for disabled users to control through natural hand motions. The paper describes the technical components, communication system, and hardware implementation to read gestures and translate them into wheelchair commands. The results demonstrate the ability to accurately control wheelchair direction and conversion through different hand position inputs.
IRJET- Design and Fabrication of Automated Wheel ChairIRJET Journal
This document describes the design and fabrication of an automated wheelchair. The wheelchair is designed to help disabled individuals gain mobility. It uses various sensors and a microcontroller to detect obstacles and navigate automatically. The wheelchair can be controlled via a joystick or gestures. It has an ultrasonic sensor to detect obstacles and a GPS module to track its location. When an object is detected, the wheelchair turns right, moves forward a short distance, and stops to avoid collisions. The LCD display provides information like location coordinates and movement directions to the user. The goal is to develop a smart wheelchair that can be safely operated with minimal user input.
This document describes a final year project to build a gesture controlled robotic arm. A team of 4 students will build both a robotic arm and a gesture controlled glove. The arm will have 6 axes of rotation and be able to lift up to 1kg. The glove will contain flex sensors and an accelerometer to detect hand gestures and wirelessly control the arm's movement. The goal is to allow intuitive control of the robotic arm through natural hand gestures. Applications could include industrial tasks like welding or materials handling.
This document describes a final year project to develop a gesture controlled robotic arm. A team of 4 students will build the robotic arm and a wearable hand glove controller. Sensors in the glove will detect hand gestures which will wirelessly control the motion of the robotic arm. The aim is to allow intuitive human-machine interaction. The robotic arm will use servos for motion and the glove will use flex sensors and an accelerometer to detect gestures. An Arduino microcontroller will process the glove sensor data and send commands to the arm over Bluetooth. Potential applications include industrial tasks like assembly and materials handling.
This presentation introduces a project to design a flexible robotic hand controlled by hand gestures. It discusses the objective to create a useful system that translates hand gestures into robotic hand movements to help the deaf community. The key components are a glove with flex sensors, an Arduino microcontroller, servo motors, and Xbee modules for wireless communication. Flex sensors on the glove detect gestures and send signals to the microcontroller. The microcontroller processes the signals and sends commands to control the servo motors moving the robotic hand.
The document outlines the components and methodology for a project on a vending machine controlled by sensors and Arduino. It includes chapters on the circuit diagram, components like Arduino, motors, sensors. It describes the coding and flowchart for the procedure to sense the line and select options. The objectives are to create an automated, cost efficient vending machine that can make different coffee decoctions using sensors and artificial intelligence.
The document outlines design ideas for several products, including furniture for rural Indian schools, bedside storage for hospitals, aids for spastic children, and a mini refrigerator. It also proposes an aid to assist elderly patients with defecation using an inflatable pneumatic principle. The furniture for schools is intended to provide support for study materials while being light and compact for carrying. The bedside storage is meant to allow for free movement, easy access, and stacking. The aid for spastic children involves customized rubberwood furniture. The mini refrigerator features a revolving bottle storage and folding trays.
The document describes a MATLAB workshop proposal from M-LABS aimed at university students. The 4-module workshop covers basic MATLAB programming, digital image processing, digital signal processing, and communication systems. It provides hands-on experience and training in MATLAB toolbox applications for research. Participants will gain comprehensive MATLAB knowledge and skills to solve problems in signals, images, and communications. The workshop includes materials, projects, career guidance, and competitions with prizes.
This document proposes a social network where users communicate through sharing stories. It would be inspired by One Thousand and One Nights, which used a frame story technique to combine folktales. Users would post short stories that build upon each other, with one character's story triggering the start of another by a different user. This could create an endless, collaborative story told by many authors in a never-ending style.
Ramadan is the ninth month of the Islamic lunar calendar and is considered the holiest month of the year for Muslims. It is a time for fasting, prayer, and reflection. During Ramadan, Muslims are not permitted to eat or drink from dawn to dusk. They break their fast each evening with dates and water before gathering for a large family meal. The fast helps Muslims practice self-control and empathy for those without enough food. Ramadan culminates in the three-day festival of Eid al-Fitr, where people donate food to the poor, gather with family and friends for prayer and feasting, and exchange gifts and greetings of "Happy Eid!"
The document provides information about using an Atmel 89S52 microcontroller to control servo motors. It includes sections about servo motors, the Atmel 89S52 microcontroller, and sample Keil code. The Atmel 89S52 has features like 8K bytes of flash memory, 256 bytes of RAM, timers/counters, and I/O ports that make it suitable for controlling servo motors. The Keil code section implies the document contains or references code written for the Atmel 89S52 in Keil software.
Caribees singing and dancing by the Association was held on June 1 at the Chinese Cultural Centre. Now in its 30th year of continuous entertainment and theme for 2013 the Association was together again.
Ramadan is the ninth month of the Islamic lunar calendar and is considered the holiest month of the year for Muslims. It is a time for fasting, prayer, and reflection. During Ramadan, Muslims are not permitted to eat or drink from dawn to dusk. They break their fast in the evening with dates and water before having a large family meal. The fast helps Muslims practice self-control and empathy for those without enough food. Ramadan culminates in Eid al-Fitr, a three day celebration where food is donated to the poor and friends and family gather for prayers, meals, gifts, and festivities to mark the end of fasting.
The smallest positive guess for which the Newton method diverges for the function f(x)=atan(x) is 1.4. The Newton method was able to find the root for guesses up to 1.39 but produced a divide by zero error at 1.4, indicating that 1.4 is the smallest positive value where the method diverges.
The false position method is a root-finding algorithm that uses linear interpolation to estimate the root of a function. It improves upon the bisection method by using the function values at the endpoints of the interval rather than just their signs. The method chooses the intercept of the secant line through the two endpoints as the next approximation of the root, and continues iteratively narrowing the interval until the root is found.
ACCELEROMETER BASED HAND GESTURE CONTROLLED ROBOT USING ARDUINOSnehasis Mondal
WORKING ARDUINO CODE:
/* * Gesture Recognition Robot * Coder – Raj,Rajib,Saity,Snehasis * This program lets you to control your robot with gesture made by your hand */ int GNDPin=A4; //Set Analog pin 4 as GND int VccPin=A5; //Set Analog pin 5 as VCC int xPin=A3; //X axis input int yPin=A2; //Y axis input int zPin=A1; //Z axis input(not used) int Q1=10,Q2=11,Q3=12,Q4=13; //Output pins to be connected to 10, 11, 12, 13 of Decoder IC long x; //Variabe for storing X coordinates long y; //Variabe for storing Y coordinates long z; //Variabe for storing Z coordinates void setup() { Serial.begin(9600); pinMode(Q1,OUTPUT); pinMode(Q2,OUTPUT); pinMode(Q3,OUTPUT); pinMode(Q4,OUTPUT); pinMode(GNDPin, OUTPUT); pinMode(VccPin, OUTPUT); digitalWrite(GNDPin, LOW); //Set A4 pin LOW digitalWrite(VccPin, HIGH); //Set A5 pin HIGH } void loop() { x = analogRead(xPin); //Reads X coordinates y = analogRead(yPin); //Reads Y coordinates z = analogRead(zPin); //Reads Z coordinates (Not Used) if(x<340) // Change the value for adjusting sensitivity forward(); else if(x>400) // Change the value for adjusting sensitivity backward(); else if(y>400) // Change the value for adjusting sensitivity right(); else if(y<340) // Change the value for adjusting sensitivity left(); else stop_(); } void stop_() { Serial.println(""); Serial.println("STOP"); digitalWrite(Q1,LOW); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,LOW); } void forward() { Serial.println(""); Serial.println("Forward");
digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void backward() { Serial.println(""); Serial.println("Backward"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); } void left() { Serial.println(""); Serial.println("Left"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void right() { Serial.println(""); Serial.println("Right"); digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); }
This document describes a smart wheelchair system for physically handicapped individuals using a tilt sensor and wireless communication. The system includes a transmitter mounted on the user's hand that detects tilt movements using an accelerometer. The transmitter sends wireless control signals to a receiver mounted on the wheelchair. The receiver then controls the wheelchair's motion based on the control signals, allowing users to steer the chair with hand movements. The system aims to give handicapped individuals more independence and mobility through a wireless tilt-based control mechanism.
The document outlines a project proposal for developing an Arduino-controlled robotic arm. It includes sections on motivation, aims and objectives, literature review, block diagram, hardware and software requirements, circuit diagram, interfacing diagram, component specifications, timeline, advantages and limitations, conclusions, and references. The overall goal is to create a simple robotic arm that can be programmed to perform repetitive tasks as a way to increase productivity in industrial settings.
Microcontroller Based Food-Mixing MachineIRJET Journal
This document describes a microcontroller-based food mixing machine that can automatically mix ingredients for bhel (a Indian snack) based on user inputs for taste and quantity. The machine uses a microcontroller, motors to mix ingredients, and a keypad and LCD for user input and output. It aims to reduce manual labor needed for food mixing by automating the process and ensuring consistent quality and proportions of ingredients for each batch mixed.
Gesture control wheel chair cum stretcherIRJET Journal
This document summarizes a research paper on developing a gesture-controlled wheelchair and stretcher system. The system uses accelerometers and microcontrollers to detect hand gestures and control electric motors that move the wheelchair in directions like left, right, forward, and brake. It can also convert the wheelchair into a stretcher by adjusting the seat height with actuators. The goal is to create a hands-free mobility aid for disabled users to control through natural hand motions. The paper describes the technical components, communication system, and hardware implementation to read gestures and translate them into wheelchair commands. The results demonstrate the ability to accurately control wheelchair direction and conversion through different hand position inputs.
IRJET- Design and Fabrication of Automated Wheel ChairIRJET Journal
This document describes the design and fabrication of an automated wheelchair. The wheelchair is designed to help disabled individuals gain mobility. It uses various sensors and a microcontroller to detect obstacles and navigate automatically. The wheelchair can be controlled via a joystick or gestures. It has an ultrasonic sensor to detect obstacles and a GPS module to track its location. When an object is detected, the wheelchair turns right, moves forward a short distance, and stops to avoid collisions. The LCD display provides information like location coordinates and movement directions to the user. The goal is to develop a smart wheelchair that can be safely operated with minimal user input.
This document describes a final year project to build a gesture controlled robotic arm. A team of 4 students will build both a robotic arm and a gesture controlled glove. The arm will have 6 axes of rotation and be able to lift up to 1kg. The glove will contain flex sensors and an accelerometer to detect hand gestures and wirelessly control the arm's movement. The goal is to allow intuitive control of the robotic arm through natural hand gestures. Applications could include industrial tasks like welding or materials handling.
This document describes a final year project to develop a gesture controlled robotic arm. A team of 4 students will build the robotic arm and a wearable hand glove controller. Sensors in the glove will detect hand gestures which will wirelessly control the motion of the robotic arm. The aim is to allow intuitive human-machine interaction. The robotic arm will use servos for motion and the glove will use flex sensors and an accelerometer to detect gestures. An Arduino microcontroller will process the glove sensor data and send commands to the arm over Bluetooth. Potential applications include industrial tasks like assembly and materials handling.
This presentation introduces a project to design a flexible robotic hand controlled by hand gestures. It discusses the objective to create a useful system that translates hand gestures into robotic hand movements to help the deaf community. The key components are a glove with flex sensors, an Arduino microcontroller, servo motors, and Xbee modules for wireless communication. Flex sensors on the glove detect gestures and send signals to the microcontroller. The microcontroller processes the signals and sends commands to control the servo motors moving the robotic hand.
The document outlines the components and methodology for a project on a vending machine controlled by sensors and Arduino. It includes chapters on the circuit diagram, components like Arduino, motors, sensors. It describes the coding and flowchart for the procedure to sense the line and select options. The objectives are to create an automated, cost efficient vending machine that can make different coffee decoctions using sensors and artificial intelligence.
Live Human Detecting Robot for Earthquake Rescue Operationijcnes
Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded.Detection by rescue workers becomes time consuming and due to the vast area that gets affected it becomes more difficult. So the project proposes an autonomous robotic vehicle that moves in the earthquake prone area and helps in identifying the alive people and rescue operations.
Gesture Controlled Wheelchair With StretcherIRJET Journal
This document describes a gesture controlled wheelchair with stretcher functionality. It discusses:
1. The need for such a device to help disabled patients and caregivers by allowing independent mobility and easy transfer between a wheelchair and stretcher.
2. The design of the device which uses MEMS sensors and wireless control to detect hand gestures and control the wheelchair's movement and conversion to a stretcher.
3. The potential applications in hospitals and for home use by paralyzed individuals.
This document describes a project to build a voice-operated wheelchair for physically disabled persons. The objective is to design hardware for voice recognition and corresponding wheelchair actions. Group members include Mandar Jadhav, Mayuresh Todkar and Dayanand Patil, guided by Dr. V. Jayashree. The system is aimed to help those paralyzed below the neck or with quadriplegia. It will allow independent wheelchair movement through voice commands without need for personal assistance. The design uses a microphone, voice recognition IC, microcontroller, motor drivers and batteries to power DC motors for forward, reverse, left and right wheelchair movement.
IRJET- Self-Parking Chair using Microcontroller 8052IRJET Journal
This document describes a self-parking chair system that uses a microcontroller and various sensors to automatically return chairs to their original positions. The system uses an ultrasonic sensor to detect obstacles while navigating, infrared sensors to maintain distance from walls, and a magnetic sensor to detect when the chair has reached its target location (under a table). A radio frequency module allows wireless control of the chairs from a switch. The chairs are programmed using Keil uVision software and simulated using Proteus software before laying out PCBs with Express PCB. The self-parking chairs reduce human effort in arranging meeting rooms while maintaining order and cleanliness.
IRJET- Gesture Controlled Robot with Obstacle Avoidance using Arduino and And...IRJET Journal
The document describes a gesture controlled robot with obstacle avoidance capabilities built using an Arduino, accelerometer, ultrasonic sensor, Bluetooth module, DC motors, and power supply. The robot can be controlled wirelessly by gestures detected by an Android mobile application. It also avoids obstacles autonomously using the ultrasonic sensor and overrides user commands if an obstacle is detected. The goal is to help people with disabilities or improve material handling. Future work could explore using WiFi, edge sensors, cameras, or applying it to wheelchairs.
https://technoelectronics44.blogspot.com/
ULTRASONIC SENSOR RANGE FIND OUT, it has Implemented by using ULTRASONIC SENSOR, 8051 microcontrollers, LCD display, and a sound indicator.
This paper focuses on the materials, working principle of a robotic vehicle which will be controlled with hand motion. The aim of this research is to enhance industrialization by creating a hand motion controlled robotic vehicle, since it uses hand motion it will be easier to use in automation and various industries. It is also very beneficial for people with disabilities since only hand motion is required. There were various materials that were used in the research. 2 microcontrollers, an accelerometer, RF modules, encoder, decoder, diode, motor driver IC, DC motor and batteries. The microcontrollers are small computers which can be programmed to be utilized in various different ways. The Accelerometer is a PCB or a sensor which detects speed. The RF modules are of two types which are transmitters and receivers and they are components which are used to send data and information wirelessly. The encoder and decoder are used to convert the binary to any n number of output terminals. The diode is used to send the electricity in one direction. The motor driver IC controls the DC motor from the information given by the microcontroller ICs and lastly a 9v Battery will be used to power the system. The arduino software will be used to program the IC so it can perform the required task. The gadget features a receiver circuit that is intended to be worn on top of the user's glove. The vehicle's circuit incorporates an RF receiver, an 8051 CPU, and a Driver IC to power the motors. This method is extremely useful for persons with impairments since it allows a robotic vehicle to drive itself using hand gestures. The person only needs to move his hand to move the car forward, backward, left, or right. As a result, the user is not required to push any buttons.
This presentation summarizes a project to design a robotic hand controlled by hand gestures. The project is led by a group of 5 students and aims to help the deaf community. The robotic hand will be controlled via a glove with flex sensors that detect hand gestures. The signals from the flex sensors are sent to an Arduino microcontroller and transmitted to the robotic hand via Xbee modules. The hand will be built using servo motors attached to a fiberglass structure to mimic finger and hand movements based on the detected gestures.
Similar to Feeding system for disabled report (20)
Anny Serafina Love - Letter of Recommendation by Kellen Harkins, MS.AnnySerafinaLove
This letter, written by Kellen Harkins, Course Director at Full Sail University, commends Anny Love's exemplary performance in the Video Sharing Platforms class. It highlights her dedication, willingness to challenge herself, and exceptional skills in production, editing, and marketing across various video platforms like YouTube, TikTok, and Instagram.
Best Competitive Marble Pricing in Dubai - ☎ 9928909666Stone Art Hub
Stone Art Hub offers the best competitive Marble Pricing in Dubai, ensuring affordability without compromising quality. With a wide range of exquisite marble options to choose from, you can enhance your spaces with elegance and sophistication. For inquiries or orders, contact us at ☎ 9928909666. Experience luxury at unbeatable prices.
Discover timeless style with the 2022 Vintage Roman Numerals Men's Ring. Crafted from premium stainless steel, this 6mm wide ring embodies elegance and durability. Perfect as a gift, it seamlessly blends classic Roman numeral detailing with modern sophistication, making it an ideal accessory for any occasion.
https://rb.gy/usj1a2
The Genesis of BriansClub.cm Famous Dark WEb PlatformSabaaSudozai
BriansClub.cm, a famous platform on the dark web, has become one of the most infamous carding marketplaces, specializing in the sale of stolen credit card data.
Call8328958814 satta matka Kalyan result satta guessing➑➌➋➑➒➎➑➑➊➍
Satta Matka Kalyan Main Mumbai Fastest Results
Satta Matka ❋ Sattamatka ❋ New Mumbai Ratan Satta Matka ❋ Fast Matka ❋ Milan Market ❋ Kalyan Matka Results ❋ Satta Game ❋ Matka Game ❋ Satta Matka ❋ Kalyan Satta Matka ❋ Mumbai Main ❋ Online Matka Results ❋ Satta Matka Tips ❋ Milan Chart ❋ Satta Matka Boss❋ New Star Day ❋ Satta King ❋ Live Satta Matka Results ❋ Satta Matka Company ❋ Indian Matka ❋ Satta Matka 143❋ Kalyan Night Matka..
Part 2 Deep Dive: Navigating the 2024 Slowdownjeffkluth1
Introduction
The global retail industry has weathered numerous storms, with the financial crisis of 2008 serving as a poignant reminder of the sector's resilience and adaptability. However, as we navigate the complex landscape of 2024, retailers face a unique set of challenges that demand innovative strategies and a fundamental shift in mindset. This white paper contrasts the impact of the 2008 recession on the retail sector with the current headwinds retailers are grappling with, while offering a comprehensive roadmap for success in this new paradigm.
Ellen Burstyn: From Detroit Dreamer to Hollywood Legend | CIO Women MagazineCIOWomenMagazine
In this article, we will dive into the extraordinary life of Ellen Burstyn, where the curtains rise on a story that's far more attractive than any script.
[To download this presentation, visit:
https://www.oeconsulting.com.sg/training-presentations]
This presentation is a curated compilation of PowerPoint diagrams and templates designed to illustrate 20 different digital transformation frameworks and models. These frameworks are based on recent industry trends and best practices, ensuring that the content remains relevant and up-to-date.
Key highlights include Microsoft's Digital Transformation Framework, which focuses on driving innovation and efficiency, and McKinsey's Ten Guiding Principles, which provide strategic insights for successful digital transformation. Additionally, Forrester's framework emphasizes enhancing customer experiences and modernizing IT infrastructure, while IDC's MaturityScape helps assess and develop organizational digital maturity. MIT's framework explores cutting-edge strategies for achieving digital success.
These materials are perfect for enhancing your business or classroom presentations, offering visual aids to supplement your insights. Please note that while comprehensive, these slides are intended as supplementary resources and may not be complete for standalone instructional purposes.
Frameworks/Models included:
Microsoft’s Digital Transformation Framework
McKinsey’s Ten Guiding Principles of Digital Transformation
Forrester’s Digital Transformation Framework
IDC’s Digital Transformation MaturityScape
MIT’s Digital Transformation Framework
Gartner’s Digital Transformation Framework
Accenture’s Digital Strategy & Enterprise Frameworks
Deloitte’s Digital Industrial Transformation Framework
Capgemini’s Digital Transformation Framework
PwC’s Digital Transformation Framework
Cisco’s Digital Transformation Framework
Cognizant’s Digital Transformation Framework
DXC Technology’s Digital Transformation Framework
The BCG Strategy Palette
McKinsey’s Digital Transformation Framework
Digital Transformation Compass
Four Levels of Digital Maturity
Design Thinking Framework
Business Model Canvas
Customer Journey Map
Zodiac Signs and Food Preferences_ What Your Sign Says About Your Tastemy Pandit
Know what your zodiac sign says about your taste in food! Explore how the 12 zodiac signs influence your culinary preferences with insights from MyPandit. Dive into astrology and flavors!
Best practices for project execution and deliveryCLIVE MINCHIN
A select set of project management best practices to keep your project on-track, on-cost and aligned to scope. Many firms have don't have the necessary skills, diligence, methods and oversight of their projects; this leads to slippage, higher costs and longer timeframes. Often firms have a history of projects that simply failed to move the needle. These best practices will help your firm avoid these pitfalls but they require fortitude to apply.
❼❷⓿❺❻❷❽❷❼❽ Dpboss Matka Result Satta Matka Guessing Satta Fix jodi Kalyan Final ank Satta Matka Dpbos Final ank Satta Matta Matka 143 Kalyan Matka Guessing Final Matka Final ank Today Matka 420 Satta Batta Satta 143 Kalyan Chart Main Bazar Chart vip Matka Guessing Dpboss 143 Guessing Kalyan night
SATTA MATKA SATTA FAST RESULT KALYAN TOP MATKA RESULT KALYAN SATTA MATKA FAST RESULT MILAN RATAN RAJDHANI MAIN BAZAR MATKA FAST TIPS RESULT MATKA CHART JODI CHART PANEL CHART FREE FIX GAME SATTAMATKA ! MATKA MOBI SATTA 143 spboss.in TOP NO1 RESULT FULL RATE MATKA ONLINE GAME PLAY BY APP SPBOSS
Dive into this presentation and learn about the ways in which you can buy an engagement ring. This guide will help you choose the perfect engagement rings for women.
𝐔𝐧𝐯𝐞𝐢𝐥 𝐭𝐡𝐞 𝐅𝐮𝐭𝐮𝐫𝐞 𝐨𝐟 𝐄𝐧𝐞𝐫𝐠𝐲 𝐄𝐟𝐟𝐢𝐜𝐢𝐞𝐧𝐜𝐲 𝐰𝐢𝐭𝐡 𝐍𝐄𝐖𝐍𝐓𝐈𝐃𝐄’𝐬 𝐋𝐚𝐭𝐞𝐬𝐭 𝐎𝐟𝐟𝐞𝐫𝐢𝐧𝐠𝐬
Explore the details in our newly released product manual, which showcases NEWNTIDE's advanced heat pump technologies. Delve into our energy-efficient and eco-friendly solutions tailored for diverse global markets.
Navigating the world of forex trading can be challenging, especially for beginners. To help you make an informed decision, we have comprehensively compared the best forex brokers in India for 2024. This article, reviewed by Top Forex Brokers Review, will cover featured award winners, the best forex brokers, featured offers, the best copy trading platforms, the best forex brokers for beginners, the best MetaTrader brokers, and recently updated reviews. We will focus on FP Markets, Black Bull, EightCap, IC Markets, and Octa.
1. Feeding System for Disabled
Submitted by Group 2
Mayank Awasthi 2006033
Md Sadhiq 2006034
Anand Kumar 2006076
Under the supervision of
Mr. Awadesh Kumar Singh
Design Project (MN-302)
Instructors: Prof. Amit Ray
Dr. Puneet Tandon
Dr. M.K. Roy
Pandit Dwaraka Prasad Mishra Indian
Institute of Information Technology Design
and Manufacturing, Jabalpur
i
2. DEDICATION
To
Our Project Guide,
Faculty members,
Workshop, Lab Assistants
&
Seniors
For Letting Us to Fulfill
Our Dreams
ii
3. ACKNOWLEDGEMENT
First of all, we would like to express our sincere thanks to our supervisor Mr.
Awadesh Kumar Singh for his intellectual guidance, continuous interest,
generous support, infinite patience, and constant encouragement throughout this
project work. He has devoted his valuable time to discuss this project, his
expertise and broad knowledge in Engineering Design played a major role in the
realization of this work. We appreciate Mr. Awadesh Kumar Singh for his
confidence boosting start up to our project work and encouragement in creative
endeavors.
We especially appreciate the company of our classmates, seniors, workshop &
lab assistants and who have made useful to this work by way of discussions and
suggestions from time to time.
Group II
Mayank Awasthi (2006033)
Md Sadhiq (2006034)
Anand Kumar (2006076)
iii
4. ABSTRACT
People with disabilities constitute a large percentage of the population, including
those who have difficulty using their hands and arms to control and manipulate
their environment. In order to live their daily lives, they must be under constant
supervision. Often, this requirement is not met because such care is hard to find
due to lack of assistance or for financial reasons. If a feeding system could be
designed and manufactured for these people, the need for constant supervision
could be reduced drastically. The feeding system could assist them in feeding
themselves. It would rebuild confidence and self-esteem lost in the depth of
illness.
iv
5. CONTENTS
I. Objective ……………….................1
II. Research …………………………...2
III. Technical Details ……………………4
IV. Fabrication Process ………………...8
V. Working …………………………… 12
VI. Costing ……………………………….13
VII. Conclusion …………………………...16
VIII. References …………………………17
IX. Appendix …………………………….
i. Microcontroller Program
ii. Product Photos
v
6. Objective
The aim of this project is to design a lightweight, easy to use, and low cost
robotic feeding arm, which would act as an extension for the affected people to
regain their independence from disease. The functional requirement of the device
is that it should allow the user to manipulate a feeding utensil and to bring the
liquid to the mouth.
We have divided this project in two phases:
Phase I: In last semester we did the CAD modeling & simulation of our design &
also completed a working prototype of our design.
Phase II: In this semester we have done the fabrication and microcontroller
programming for servo controlled precise movement of the arm.
vi
7. Research
There are basically two robotic arms out on the market currently, the Helping
Hand and the MANUS. The Helping Hand was produced by Kinetic Rehab
Instruments (KRI), they have since gone out of business. It is controlled by a
joystick interface and has four degrees of freedom not including the gripper. The
MANUS is produced by a company called Exact Dynamics. It is controlled by a
sixteen key, keypad interface and has seven degrees of freedom.
The marketing difficulties are the same for both of these devices. Those who
have heard about robotic devices aren’t convinced about the benefits and the
usability of the devices. Therefore potential users of a robotic arm are finding
alternative solutions. For example: smart homes, environmental control systems
and human assistants. In addition to high cost, another problem is that most
people have never heard of rehabilitation robotics. A better market strategy is
necessary to convince potential users to choose robotics as a solution.
Requirements:
The manipulator should be robust, light weight, modular, easy-to-operate
and safe.
It should be cost effective.
The arm’s workspace should be similar to the arm of an average man
having aesthetic look.
vii
8. Technical Details:
The basic key elements of the configuration are:
Degree of freedom
Linkages
Transmission
Actuation HS-322HD servo motors
ATMEL 89S52 Microcontroller
User Interface(through Computer)
Servo Motors:
Servo motors are used in closed loop control systems in which work is the control
variable. The digital servo motor controller directs operation of the servo motor by
sending velocity command signals to the amplifier, which drives the servo motor.
An integral feedback device (resolver) or devices (encoder and tachometer) are
either incorporated within the servo motor or are remotely mounted, often on the
load itself. These provide the servo motor's position and velocity feedback that
the controller compares to its programmed motion profile and uses to alter its
velocity signal. Servo motors feature a motion profile, which is a set of
instructions programmed into the controller that defines the servo motor
operation in terms of time, position, and velocity. The ability of the servo motor to
adjust to differences between the motion profile and feedback signals depends
greatly upon the type of controls and servo motors used.
Principle strengths of Servo Motor:
1. High performance
2. Small size
3. Wide variety of components
4. High speeds available with specialized controls
Principle weaknesses:
1. Slightly higher cost
2. High performance limited by controls
3. High speed torque limited by commutator or electronics
viii
9. Functioning of servo Motor:
Block Diagram of servo control
HS-322HD Servo Motors Specifications:
This servo comes with mounting hardware, mounting grommets, and 4 servo
horns. The HS-322HD servo has heavy duty gears for smoother operation and
longer life when compared to normal servos. This servo has a Hitech/JR
connector which mates directly with a 0.1" 3-pin header. The servo spline has 24
teeth and mates with Hitec compatible accessories.
Specifications
Voltage
Operating Speed Output Torque Weight
Range
0.19sec/60 degrees at 3kg.cm (41.6oz.in) at 43.0g
4.8V - 6V
4.8V 4.8V (1.51oz)
Wire Color Meaning
On all Hitec servos the Black wire is 'ground', the Red wire (center wire) is
'power', and the yellow (third) wire is 'signal'.
ix
10. How to communicate the angle at which the servo should turn
The control wire is used to communicate the angle. The angle is determined by
the duration of a pulse that is applied to the control wire. This is called Pulse
Coded Modulation. The servo expects to see a pulse every 20 milliseconds (.02
seconds). The length of the pulse will determine how far the motor turns. A 1.5
millisecond pulse, for example, will make the motor turn to the 90 degree position
(often called the neutral position). If the pulse is shorter than 1.5 ms, then the
motor will turn the shaft to closer to 0 degress. If the pulse is longer than 1.5ms,
the shaft turns closer to 180 degress.
As seen in the picture, the duration of the pulse dictates the angle of the output
shaft (shown as the green circle with the arrow).
ATMEL 89S52 8-bit Microcontroller:
The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with
8K
bytes of in-system programmable Flash memory. The on-chip Flash allows the
program memory to be reprogrammed in-system or by a conventional nonvolatile
memory programmer.
By combining a versatile 8-bit CPU with in-system programmable Flash on
a monolithic chip, the Atmel AT89S52 is a powerful microcontroller which
provides a
highly-flexible and cost-effective solution to many embedded control applications.
x
11. The AT89S52 provides the following standard features: 8K bytes of Flash, 256
bytes
of RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit
timer/counters, a
six-vector two-level interrupt architecture, a full duplex serial port, on-chip
oscillator,
and clock circuitry.
PIN Configuration
Pin configuration of ATMEL 89S52
xi
12. Dimension:
Base board 18’’*12’’*2’’
Base arm 2.5’’*2.5’’*6’’
Shoulder Link 11’’
Spoon Length 5’’
Fabrication Process
Fabrication process involved two modules
Mechanical design
Circuit design
User Interface
Mechanical Design:
Base:
The base is a key point in our design of feeding system. In the base we
have used a HS-322HD servo motor which is used to rotate the whole
system.
The whole arm is connected to the spindle of the base motor using ball
bearings to minimize the load on the spindle and for the smooth
rotation of the arm. Moreover it would minimize the vibrations of the
system during rotation.
xii
13. Shoulder Link:
The shoulder assembly consists of a link which is controlled by a HS-
322HD Servo Motor.
This shoulder link has another servo motor connected to one of the ends
to control the spoon motion. Due the weight of the servo motor shoulder is
unable to with stand in its position. So a counter balancing mechanism is
used to minimize the gravity effect.
Feeding Spoon:
The feeding spoon is controlled by a HS-322HD servo motor which is
fixed at the end of the shoulder link.
This spoon is used to lift the food items (mainly liquids) from the bowl
which is placed on the table at a fixed location.
xiii
14. Circuit Design:
In our circuit design we have used two ATMEL 89S52 microcontrollers to control
the three servo motors. One microcontroller acts as a master and other one as
the slave.
The master is used to control the motion of base and the spoon. And the slave is
used to control the shoulder link. These two microcontrollers are working on the
principle of parallel processing. It use of more than one CPU or processor or
microcontrollers to execute a program or multiple programs. Ideally, parallel
processing makes programs run faster because there are more engines (CPUs
or cores) running it.
Circuit Description/Diagram:
The upper 4 bits of the master is connected to the lower 4 bits of the slave
as shown in the circuit diagram.
The base motor gets the signal from the first bit of the port 1(master) and
the motor which is fixed at the spoon gets signal from second bit of the
port1.
The shoulder link motor gets the signal from the first bit of port 1(slave) as
shown.
Bits no. 10,11,12,13 are connected to the bits of RS-232 port to get the
input from the Computer.
xiv
15. Microcontroller Programming: We have done the microcontroller program to
move the servo motors at the required angle. For code see appendix.
User Interface:
We have provided a computerized user interface where a certain number code
represents the certain motion.
For base motion:
2_1: Represent initial position.
2_2: Rotate 20 deg rotation from initial.
2_3: Again 20 deg rotation.
.
.
So on till
2_9.
xv
16. For Shoulder link motion:
1_1: Represent initial position.
1_2: Rotate 20 deg rotation from initial.
1_3: Again 20 deg rotation.
.
.
So on till
1_9.
For spoon motion:
3_1: Represent initial position.
3_2: Rotate 20 deg rotation from initial.
3_3: Again 20 deg rotation.
.
.
.
So on till
3_9.
Working:
Initially, the arm is at its fixed position as in fig.1
The base is rotated to move the arm near the bowl according to user
input, then the shoulder joint comes into action which places the spoon
like structure inside the bowl (fig.2) according to user input.
The spoon is rotated to lift the liquid food (fig.3)
Then, base is rotated to move the arm towards the user; then again
shoulder joint comes into action which moves the spoon towards the
user’s mouth (fig.4)
xvi
18. Costing:
Manufacturing Cost (excluding Labour cost + R&D )
S.NO Parts name Price(Rs.)/unit Quantity Price(Rs.)
1 Servomotor 1500 3 4500
Hitec HS-322
HD
2 Microcontroller kit 2000 2 4000
ATMEL 89S52
3 Transformer 100 2 200
4 RS232 Cable 200 1 200
5. Acrylic sheet 300/Sq ft. 1 sq. ft. 300
6 Ball Bearing 10 4 40
7. Spoon 10 1 10
8 Base Board 100 1 100
9. Miscellaneous 250 --- 250
(Glue,Nuts,alumi
num strip ,cables,
etc)
TOTAL Rs. 9600/-
The prices stated are approximate depending upon market and quantity
purchased.
On large scale production, the price of the final product can be reduced
further. The cost of the product can come up to Rs.6000-7000.
xviii
19. Conclusion:
The vibration occurring due to the servomotor limitation is a hurdle in
smooth rotation of the arm which need to be addressed carefully.
Mechanical structure proposed and the capabilities of servomotors are not
in full coordination, so some changes in structure is required.
More advanced microcontroller for better impulse sending and retrieving.
Use of sensors for detecting the food level and position of user.
Separate user interface in place of current interface for better ergonomics.
The angle rotation is 20 degree per pulse which should be further
minimized up to 5 degree for better controlled movement of arm.
Aesthetic look have great scope to work upon and position of the circuit
and bowl need to be adjusted more precisely.
For picking food objects as well as liquid, grippers/other mechanism can
be proposed to handle different types of food.
xix
21. APPENDIX:
i. Microcontroller Program:
#include<at89x52.h>
#define servo1 P1_1
#define servo2 P1_2
#define servo3 P1_3
unsigned char select,angle,ptr=0;
void timer1_ovf(void) interrupt 3
{
TH1=0xB7; //20msec //0xCA; //15 msec interrupt
TL1=0xFD; //0x00;
switch(select)
{
case '1': servo1=1;break; //servo on pulse
case '2': servo2=1;break; //servo on pulse
case '3': servo3=1;break; //servo on pulse
}
TR0=1;
P0_4=~P0_4;
}
void timer0_ovf(void) interrupt 1
{
switch(angle)
{
case '1':TH0=0xFD;TL0=0xD8;break;
case '2':TH0=0xFD;TL0=0x1D;break;
case '3':TH0=0xFC;TL0=0x62;break;
case '4':TH0=0xFB;TL0=0xA7;break;
case '5':TH0=0xFA;TL0=0xEC;break;
case '6':TH0=0xFA;TL0=0x31;break;
case '7':TH0=0xF9;TL0=0x76;break;
case '8':TH0=0xF8;TL0=0xBB;break;
case '9':TH0=0xF7;TL0=0xFA;break;
}
switch(select)
{
case '1': servo1=0;break; //servo on pulse
case '2': servo2=0;break; //servo on pulse
case '3': servo3=0;break; //servo on pulse
}
xxi