Robotic Wheelchair

This paper presents the design and implementation of a robotic wheelchair capable of navigating both flat surfaces and staircases. The robot uses a single front-mounted Infrared sensor for detection and navigation. It allows for manual control and can switch to automated stair-climbing mode with a usercontrolled button. The algorithm positions the robot at the base of the stairs, raises its front section when the sensor no longer detects an obstacle, and then advances a set distance while continuously monitoring for additional steps. This design emphasizes simplicity and efficiency, offering a practical solution for stair navigation with minimal hardware. This chair increases the lifeline of special ability person who don't climb the stair. In social area special ability person easily access their daily routine by our stair climbing chair.

We recently developed a dynamic mimicking system that mounts a user's wheelchair onto a carrier platform capable of performing required manoeuvres using the wheelchair's own controls. Two wheelchair user studies were performed to evaluate users' perception of their own wheelchair and the proposed system. The first user study included ten wheelchair users who were interviewed in order to map their current perceptions toward their wheelchair and their views about its shortcomings when traversing rough terrains. In the second study, the system was explained to 33 participants who were then exposed to three simulations of its main features. Participants were interviewed and the experimenter wrote down their answers, which were analysed using IBM SPSS Statistics 27 software. The conclusions are that special consideration should be given to motorized wheelchair users, and that the designers of the system should include a user interface that explains and demonstrates the system to users.

Context. Immobilized people face additional barriers in almost all areas of life, including simple operations like turning the light on/off and controlling the air conditioner. The object of the study was to develop the brain-to-thin communication of affordable price to control the smart home appliances by immobilized people from neck to toes. Objective. The goal of the work is to manage smart home appliances via brain-to-thing communication with EEG non-invasive electrodes, edge IoT devices, and MQTT protocol if the brain and eye control of the disabled work normally. Method. A non-invasive Sichiray TGAM brainwave EEG sensor kit captures signals and then transmit them via Bluetooth to the HC-05 module connected to the Arduino Mega microcontroller. Information about edge IoT devices is presented to the disabled on the LCD 1602 display wired to the same Arduino Mega. The disabled person chooses the option shown on display via the double blink that is detected if the quality of signal equals zero and low/mid gamma waves are less than ten in three consecutive Bluetooth packets. Control commands are sent from Arduino Mega (MQTT publisher) to the edge IoT devices (MQTT subscribers) that analyze them and start a specific operation like opening a door and turning the alarm on/off. Results. Five females and five males of different ages from 8 to 59 years old examined the control of smart home appliances with the Sichiray TGAM brainwave sensor kit. Everyone successfully handled the Sichiray headset and showed satisfaction with the brain-to-thing system. Conclusions. In this work, a smart home concept for immobilized people was developed using the brain-to-thing approach and the MQTT communication between the MQTT publisher, Sichiray TGAM brainwave EEG sensor kit connected via Bluetooth to the Arduino Mega microcontroller, and edge IoT devices total priced at USD 150. The most likely prospect of the presented work is to produce the sample that is ready to market.

Loss of motion is the failure to move a body portion, brief or changeless. In most cases, loss of motion is caused by harm to the nerves, not the influenced range. For example, an injury to the central or lower region of the spinal cord can disrupt work below the injury, even if the structures are very strong. This may result in one or more of the taking after side effects: Failure to move the influenced region, Inability to feel sensation within the influenced area and Failure to control real capacities within the influenced. zone Mind- Machine Interface (MMI), in addition known as arrange neural interface, can provide a facilitate channel of communication and interaction between the user's brain and computer. MMI may be utilized to back, improve or redress human cognitive or sensorimotor capacities. MMI gives a modern strategy for making intelligently frameworks competent of changing over human brain waves and muscle action into activities that can be communicated to the exterior world. The MMI framework basically changes over EEG signals, which reflect brain action, into client activities through the system's equipment and computer program. Here are a few particular cases of how MMI can be utilized to offer assistance paralyzed individuals: MMI can be utilized to control wheelchairs, permitting paralyzed individuals to move autonomously. MMI can be utilized to function computers, permitting paralyzed individuals to communicate and get to data. IMM can be utilized to reestablish a few levels of development to paralyzed appendages. IMMs are still inside the early stages of progression, but they have the potential to revolutionize the way we treat misfortune of movement. By giving a facilitate communication channel between the brain and computer, IMM can offer help paralyzed people recover many opportunities and quality of life .
Keywords: Mind-machine interface, electroencephalogram (EEG), counterfeit neural arrange.

This paper proposes the use of an explicit kinematic predictive control, which is a PWA (PieceWise Affine) function of the dynamic model states of a robotic wheelchair. The optimization algorithmic is based on Multi-parametrical Programming, allowing all calculations of this controller be performed off-line, before starting the system operation, resulting in a reduction of online computational time. Some simulation and experimental results illustrate the effectiveness of the proposed method Keywords Robot Wheelchair, Predictive Control, PieceWise Affine systems, Multi-parametric Programming Resumo Normalmente a implementação de um controlador preditivo em sistemas com dinâmica rápida é inviável devido à quantidade de cálculos necessários para se determinar a solução do problema de controle. Este artigo mostra um controlador preditivo dinâmico explícito, do tipo PWA (PieceWaise Affine), atuando no modelo cinemático de uma cadeira de rodas robotizada. O algoritmo de otimização utilizado foi a Programação Multiparamétrica, permitindo assim que todos os cálculos deste controlador fossem realizados explicitamente ou off-line, antes do início do sistema, resultando assim em economia de tempo computacional online. Palavras-chave Cadeira de rodas robótica, Controle preditivo, sistemas afins por partes, programação multiparamétrica

Testes psicométricos podem classificar pessoas dentro de grupos com habilidades, competências, modo de agir e pensar semelhantes. Interfaces de software assistivas deveriam ser personalizadas ao máximo, a fim de reduzir o impacto do uso da tecnologia por pessoas com deficiências ou seus cuidadores. Seria relevante saber se personalidades diferentes reagem emocionalmente ou mesmo cognitivamente da mesma forma ao usar uma ferramenta assistiva. Em uma pesquisa realizada com 98 participantes, autorizada pelo Comitê de Ética da UFG, é isso que este trabalho propõe a descobrir.

Objetivo: Mapear a concessão de cadeiras de rodas (CR) no Estado do Espírito Santo/Brasil, caracterizando o perfil da população que recebeu esse dispositivo. Métodos: Os dados foram coletados no Centro de Reabilitação Física do Estado do Espírito Santo, o único do estado a realizar este serviço, inseridos em planilhas e analisados descritivamente. Resultados: Entre 2014 e 2017 foram concedidas 4688 CR a 3102 usuários, maiores de 1 ano de idade, com diferentes condições de saúde, destacando-se as neurológicas. A maioria foi concedida com prazo acima de 180 dias para residentes na Região Metropolitana da Grande Vitória. Conclusão: Os resultados refletem o processo de concessão e contribuem para a importância de uma criteriosa avaliação das necessidades dos usuários para o uso de CR e de uma estruturação dos serviços, visando um acesso mais rápido e efetivo.

Approaching a group of humans is an important navigation task. Although many methods have been proposed to avoid interrupting groups of people engaged in a conversation, just a few works have considered the proper way of joining those groups. Research in the field of social sciences have proposed geometric models to compute the best points to join a group. In this article we propose a method to use those points as possible destinations when driving a robotic wheelchair. Those points are considered together with other possible destinations in the environment such as points of interest or typical static destinations defined by the user's habits. The intended destination is inferred using a Dynamic Bayesian Network that takes into account the contextual information of the environment and user's orders to compute the probability for each destination.

Mechanical ventilators are life support equipment that normally make up intensive care units. The low usability of the interface of these devices can easily lead to human error. This work intends to evaluate the usability of the user interface of the Ticê mechanical ventilator in a quantitative and qualitative way. Resumo. Os ventiladores mecânicos são equipamentos de suporte a vida que normalmente compõem as unidades de tratamento intensivo. A baixa usabilidade da interface destes equipamentos pode facilmente levar ao erro humano. Este trabalho pretende avaliar a usabilidade da interface de usuário do ventilador mecânico Ticê de forma quantitativa e qualitativa.

In this paper, we present our work called wireless voice-based wheelchair controller system, which consists of an Android device and a control system that controls the movement of wheelchair using a DC motor. This project is aim to ease the burden for wheelchair user especially for elderly people to move around. The control system is build using the Yo-Yo (IOIO) platform that controls the DC motor, communicates with the Android phone application using RF receiver through a Bluetooth communication protocol and RF signal. The Android application is developed using Basic-4-Android (B4A) rapid development tool connected with one main control interface using voice command, D-pad and joystick to control the motor driver MD30C direction and speed through IOIO platform based on four conditions; forward, backward, right and left. The speed movement is controlled by Pulse Width Modulation (PWM) signal while the direction movement for Qibla’ is generated by the control interface and guided by ...

Lengan robot manipulator adalah suatu sistem mekanik yang digunakan dalam memanipulasi pergerakan mengangkat, memindahkan, dan memanipulasi benda kerja untuk meringankan kerja manusia. Lengan robot dalam penelitian ini memanipulasi gerakan memukul shuttlecock seperti pada permainan badminton. Model kinematika merepresentasikan hubungan end effector dalam ruang tiga dimensi dengan variabel sendi dalam ruang sendi. Metode Denavit-Harternberg merupakan sebuah metode yang digunakan untuk membentuk persamaan kinematik yang menggunakan 4 parameter yaitu θ, α, d dan a. Hasil dari penelitian ini didapat persamaan kinematik maju dan kinematik balik yang dapat digunakan sebagai acuan dalam memprogram gerakan lengan robot ke dalam sistem control.Agar Gerakan lengan robot stabil, maka dibutuhkan kontroller PID (Proportional, Integral, dan Differensial) untuk mengontrol kecepatan motor pada lengan robot. Pada penelitian ini mengimplementasikan metode Ziegler-Nichols untuk mendapatkan parameter  ...

Accidents involving four-wheel vehicles are the second leading cause of death on the world's roadways, accounting for around 11% of all road fatalities in India. Human mistake, road hazards, and malfunctioning vehicles are just a few of the causes of traffic collisions. Accidents caused by humans may be reduced with the help of a system that sends out warnings to drivers in dangerous situations. The goal of this initiative is to reduce traffic accidents caused by both natural phenomena and driver mistake by providing early warnings and prompting drivers to take preventative action. The system employs sensors to keep tabs on the car in relation to the road, and then issues warnings to the driver so that he or she may avoid causing any harm to the vehicle or to any obstacles in the driver's path.

Most of the physically disable individual satisfies their movement through motorized wheelchair. The scenario is unusual for the disables of developing countries because of their economic conditions. Moreover traditional powered wheelchair is not comfortable to all segments of the disable society because of their complexity. Several researchers have used sophisticated technologies to operate wheelchair such as voice controlled, head gesture controlled, remote controlled wheelchair for providing better flexibility. For being sophisticated technology Android is being used in mobile, TV or in smart watches.An app with mitigating required controlling facilities is implemented here that may provide a flexible movement of the certain disable community. This paper focuses on the system of PWM based Android Controlled Wheelchair.

Penelitian ini bertujuan untuk membuat rancang bangun Automated Guided Vehicle (AGV)menggunakan roda omni-directional. Sistem AGV dipandu oleh path guidance dalam bernavigasi. Penelitian ini bersifat kuantitatif. Roda omni-directional tipe mecanum dipasang 4 buah pada AGV. Masing-masing roda dikendalikan oleh motor DC sehingga AGV mampu bergerak ke segala arah secara independent. Sistem path guidance menggunakan sensor garis yang membaca garis putih untuk memandu AGV dalam melakukan proses tools handling dari satu stasiun ke stasiun yang lain. Kendali PID Adaptif terinterpolasi (Interpolated Adaptive PID) digunakan untuk menjaga kestabilan AGV mengikuti garis. Kendali PID ini adaptif karena nilai konstanta PID dipengaruhi oleh besarnya setpoint kecepatan AGV. Fungsi stasiunadalah sebagai tempat menyimpan dan mengambil toolbox.Hasil penelitian menunjukkan bahwa penggunaan 4 roda mecanum dapat diterapkan pada AGV dalam melakukan tools handling. Kendali PID Adaptif terinterpolasi efektif digunakan untuk memandu AGV mengikuti garis dengan kecepatan (0.5-1.8) m/s.

One of the problems solved in robot control is that the required robot movement system can be moved efficiently. Controls used to increase the efficiency of robot motion are the PID (Proportional-Integral-Derivative) Control and the IMU BNO055 sensor. The concept used by the robot to be able to rotate to a certain angle entered the desired angle, then read the sensor angle BNO055 then the results of the sensor readings are sent to Arduino to then provide a signal to drive the motor. The results of research that has been done, the robot can display an angle of 0o and 180o in accordance with the sensor readings. The robot can rotate with a short effective time from 10 times of testing and with an average time of 2 seconds. From the research results, the robot can rotate to the desired angle effectively and the robot can choose the desired angle with the help of instructions with an average error of 0.88%. The best control parameter values are Kp = 1; Ki = 0,00095; and Kd = 4.Salah sat...

A better consciousness depends on how well your sleep is. Study shows that, sleep disorder become a crucial problem day by day due to work pressure and other different causes. This continuous lack of sleep or uneven sleep pattern can cause to develop different major health issues in humans. These sleep patterns are difficult to detect, analyze, and experience as they exhibit at the time when people are in their deep sleep phase. This research work is focused on studying, methods for analyzing and identifying different sleep patterns based on EEG patterns. Every stage of sleep shows a different electroencephalogram pattern. These EEG patterns show that sleep can be observed as a combination of different cyclic sleep stages. This work shows different sleep stage patterns analysis found in different sleep disorders. Based on these patterns, monitoring of quality sleep can be performed. In this paper, authors have discussed 10-20 electrodes systems to capture brain signals, electroencephalogram signals, and its categorization. This study also represent the detailed description of several methods identified for monitoring sleep behavioural patterns in order to understand the experimental basis and forming a strong theoretical background towards analyzing these EEG signals.

This paper presents trajectory tracking on omni robots using odometry method. The odometry system aims to estimate the position relative to the initial position of the omni robot to estimate changes in position over time. The rotary encoder sensor is used to count the movement of the omni robot at the x and y coordinates in the odometry calculation process in this study. Furthermore, using the reverse kinematics on the omni robot, the rotational speed value of each DC motor in the omni robot wheel is obtained. In addition, to obtain the results of a good robot movement on the odometry system, PID control is applied to control the rotational speed of each DC motor on the omni robot wheel. With reverse kinematics and odometry systems, omni robot trajectory designs can be easily built. To test the odometry method performance in trajectory tracking process, there are three types of trajectory testing patterns, namely rectangles, equilateral triangles, and equilateral triangles. From the results of this test, the error value obtained is below 5%. Intisari-Makalah ini memaparkan trajectrory tracking pada robot omni dengan metode odometry. Sistem odometry bertujuan untuk memperkirakan posisi relatif terhadap posisi awal robot omni untuk memperkirakan perubahan posisi dari waktu ke waktu. Sensor rotary encoder digunakan untuk mencacah pergerakan robot omni pada koordinat x dan y pada proses perhitungan odometry. Selanjutnya, dengan menggunakan kinematika balik pada robot omni, nilai kecepatan putar masingmasing motor DC pada roda robot omni diperoleh. Selain itu, untuk memperoleh hasil pergerakan robot yang baik pada sistem odometry, kendali PID diterapkan untuk mengendalikan kecepatan putar masing-masing motor DC pada roda robot omni. Dengan kinematika balik dan sistem odometry, desain trajectory robot omni dapat dengan mudah dibangun. Untuk menguji kinerja metode odometry dalam melakukan proses trajectory tracking, terdapat tiga jenis pola pengujian trajectory, yaitu persegi panjang, segitiga sama sisi, dan segitiga sama kaki. Dari hasil pengujian ini, diperoleh nilai kesalahan di bawah 5%.

Approaching a group of humans is an important navigation task. Although many methods have been proposed to avoid interrupting groups of people engaged in a conversation, just a few works have considered the proper way of joining those groups. Research in the field of social sciences have proposed geometric models to compute the best points to join a group. In this article we propose a method to use those points as possible destinations when driving a robotic wheelchair. Those points are considered together with other possible destinations in the environment such as points of interest or typical static destinations defined by the user's habits. The intended destination is inferred using a Dynamic Bayesian Network that takes into account the contextual information of the environment and user's orders to compute the probability for each destination.

Este artigo tem como principal objetivo apresentar o desenvolvimento de um simulador de cadeira de rodas comandada por uma ICC não invasiva, utilizando um eletroencefalograma (EEG) de baixo custo. Testes empíricos foram realizados e atualmente, já é possível, comandar os movimentos da cadeira de rodas.

A better consciousness depends on how well your sleep is. Study shows that, sleep disorder become a crucial problem day by day due to work pressure and other different causes. This continuous lack of sleep or uneven sleep pattern can cause to develop different major health issues in humans. These sleep patterns are difficult to detect, analyze, and experience as they exhibit at the time when people are in their deep sleep phase. This research work is focused on studying, methods for analyzing and identifying different sleep patterns based on EEG patterns. Every stage of sleep shows a different electroencephalogram pattern. These EEG patterns show that sleep can be observed as a combination of different cyclic sleep stages. This work shows different sleep stage patterns analysis found in different sleep disorders. Based on these patterns, monitoring of quality sleep can be performed. In this paper, authors have discussed 10-20 electrodes systems to capture brain signals, electroencephalogram signals, and its categorization. This study also represent the detailed description of several methods identified for monitoring sleep behavioural patterns in order to understand the experimental basis and forming a strong theoretical background towards analyzing these EEG signals.

Penyebaran virus korona terjadi dari manusia ke manusia melalui droplet dan udara, kontak fisik atau jarak dekat manusia ke manusia merupakan penyebab utama penularan virus korona meskipun dengan penggunaan alat perlindungan diri (APD), ini dibutktikan dengan meninggalnya lebih dari 1400 tenaga medis karena terpapar COVID-19 per tanggal Juli 2021 di Indonesia.  Penelitian ini dirancang robot manipulator 4 DOF (RPRR) dengan sistem ROS menggunakan penggerak motor stepper Nema 17 serta dengan sistem pengendalian inverse kinematics dan trajectory planning dengan fungsi sigmoid yang bekerja pada joint space. Untuk mengurangi osilasi pada pergerakan robot ditambah kontrol proporsional dengan nilai KP=10 yang dihasilkan dengan metode trial and error. Robot dirancang untuk memindahkan tabung reaksi. Dari hasil rancangan robot yang dibangun robot dapat melakukan pergerakan dengan presisi ditunjukan dengan pengujian kinematika balik dengan galat rata-rata pada sumbu x sebesar 0,62 mm, pada su...

Bangladesh is the most densely populated city in the whole world, which is visible more in the capital city Dhaka. People have to suffer and valuable times are being wasted for this chronic quandary. Lack of proper planning of the city, different speed vehicles on the same road, over population, inadequate road space, unplanned stoppage or parking etc. are responsible for causing the traffic congestion in Dhaka City. Among those insufficient/unplanned parking system is one of the main reasons for causing traffic congestion. The automated rotary car parking system is the best and suitable because of its less utilization of space compared to other systems. It is a friendly parking system due to the non-utilization of noise/pollution related mechanism. The aim of this paper is to develop an automated car parking system with a minimum cost for reducing congestion in Dhaka city.

The movement of the non-holonomic mobile robot is still not efficient because it can only move forward, backward, and turn so that it requires a wheel platform that is able to move more efficiently and more variedly. The use of mecanum wheels on wheeled robots is one of the best solutions because the mecanum wheels can move in all directions and are more stable. This paper proposes a mechanical robot trajectory kinematics design with a simple and easy mechanism to implement using an embedded system such as using Arduino. From the results of this study, it was found that the robot was able to maneuver following a circular trajectory with a radius of 50 cm in 7 seconds.

Europe faces a major and growing healthcare problem due to increase in population, increasing longevity and an aging population with disability. Such dependent, elderly, disabled and vulnerable persons, are concerned since they wish to live at home as long as possible. This aspiration is also shared by national policies and communities across EU. To ensure the optimum care of dependent people, innovative solutions are encouraged to maintain independent life style. This paper outlines two projects, SYSIASS and COALAS, which aim to develop a set of technology based solutions to meet the needs and empower these people by enhancing mobility and communication.

The design and manufacture of a 360-degree DC motor and a steering wheel vehicle are designed to reduce the rotation time from one direction to the other. This vehicle can be moved in all directions in the same position by the steering, the pinion, the DC motor, the bearings and the chain drive. The main function of this vehicle is to move easily from one direction to another. The modern development and economic progress of the Indian society have led to an increase of people on the platform, the increase of the vehicle on the road, due to the lack of space, in the hospital is a big problem in the country. The purpose of this study is the development of a system to reduce the radius of the vehicle. In this system, the first vehicle stops and the wheels are turned in the required direction through the driving system and the DC motor. It has a turning radius equal to almost the length of the vehicle itself. This vehicle was used to transport goods in various areas, such as the platfor...

Abstrak Di penelitian ini memaparkan perancangan sistem kendali fuzzy untuk mobile robot omnidirectional wheel. Menjelaskan tentang struktur kontrol, kinematika dan dinamika dari robot omnidirectional wheel. Metode yang digunakan sebagai pengendali dari possisioning robot ini sendiri yaitu sistem metode logika fuzzy sebagai sistem kontrol gerak roda mobile robot omnidirectional wheel. Kontroller yang disajikan dalam penelitian ini memberi solusi yang optimal untuk diimplementasikan dikehidupan nyata yaitu dengan menggunakan mikrokontroler berupa STM32 yang berfungsi sebagai otak atau pengendali dari sistem possisioning robot dengan 4 roda omni menggunakan STM32 berbasis fuzzy logic controller. Pergerakan robot omnidirectional wheel merupakan kunci utama penentuan tata letak robot sesuai dengan set point yang ditentukan. Namun tanpa menggunakan sensor tambahan, metode ini akan mudah tergelincir yang disebabkan oleh roda omni yang masih bergerak sementara motor penggerak telah berhent...

Este trabalho visa o estudo e implementação de um software de automação residencial voltado para pessoas que possuem mobilidade reduzida. O sistema, chamado de BlueHelp, deve auxiliar em algumas pequenas atividades do dia a dia das pessoas, permitindo que o usuário consiga controlar sua residência com facilidade através de um aplicativo para smartphone conectado via bluetoot a um microcontrolador. Todas as principais atividades do usuário serão registradas em um banco de dados em um servidor web, possibilitando que os responsáveis pelo usuário consultem-no a qualquer momento de forma simples e prática.

Penelitian ini membahas mengenai perancangan lengan robot 5 derajat kebebasan menjadi model skala kecil dari robot industri. Robot ini dirancang untuk dapat mensimulasikan atau menirukan pergerakan robot industri. Tujuan penelitian ini membangun lengan robot berdasarkan aspek kinematika dengan memperlihatkan secara langsung pergerakan waist, sholuder, elbow, wrist pitch, wrist roll, dan gripper. Perancangan termasuk membangun model kinematik robot dan fisik lengan robot yang dapat dikontrol menggunakan mikrokontroller Arduino Uno dengan sistem pergerakan menggunakan servo motor DC. Lengan robot dikendalikan secara otomatis dari komputer dengan RS-232 atau USB interface selanjutnya melakukan pembelajaran mengenai kinematik lengan robot pada saat melakukan percobaan pergerakan. Robot ini sudah bekerja dengan baik dengan jarak maksimum yang bisa dijangkau oleh robot pada sumbu x = 425 mm, y = 425 mm dan z = 480 mm.

As per the rapidly advancement in the changing technology, the numerous applications are required. For example, for face, hand and gesture recognition. The previous researchers have been developed various methods foe head gesture recognition and they presented various limitations. Therefore the paper proposes an FPGA based gesture recognition system. The gesture detection and gesture recognition can achieve 30 frames per second using FPGA system. Accordingly that the system software can subsequently schedule all the tasks during the processing. The proposed system also introduces the obstacle detection technique. The system uses ultrasonic sensors for the obstacle detection. The proposed system is responsible for the detection of obstacles. Index Terms Wheelchair Interface, Ultrasonic Sensors, Face Detection, Gesture Recognition.

Intelligent Wheelchair (IW) interface is used for providing more convenient and efficient interface to the people with disability. Robotic wheelchairs extend the capabilities of traditional powered devices by introducing control and navigational intelligence. The paper presents an exhaustive literature review in robotic wheelchair control mechanism. The main theme is to control the wheelchair according to signals from the input source. The paper presents different control mechanisms, their advantages, limitations, strengths, weaknesses as a preliminary review.

Here, we provide an overview of the content of the Special Issue on "Human-computer interaction in smart environments". The aim of this Special Issue is to highlight technologies and solutions encompassing the use of mass-market sensors in current and emerging applications for interacting with Smart Environments. Selected papers address this topic by analyzing different interaction modalities, including hand/body gestures, face recognition, gaze/eye tracking, biosignal analysis, speech and activity recognition, and related issues.

Here, we provide an overview of the content of the Special Issue on "Human-computer interaction in smart environments". The aim of this Special Issue is to highlight technologies and solutions encompassing the use of mass-market sensors in current and emerging applications for interacting with Smart Environments. Selected papers address this topic by analyzing different interaction modalities, including hand/body gestures, face recognition, gaze/eye tracking, biosignal analysis, speech and activity recognition, and related issues.

This paper introduces a head movement based Human Machine Interface (HMI) that uses the right and left movements of head to control a robot motion. Here we present an approach for making an effective technique for real-time face orientation information system, to control a robot which can be efficiently used for Electrical Powered Wheelchair (EPW). Basically this project aims at application related to HMI. The system (machine) identifies the orientation of the face movement with respect to the pixel values of image in a certain areas. Initially we take an image and divide that whole image into three parts on the basis of its number of columns. On the basis of orientation of face, maximum pixel value of approximate same range of (R, G, and B value of a pixel) lie in one of divided parts of image. This information we transfer to the microcontroller through serial communication port and control the motion of robot like forward motion, left and right turn and stop in real time by using head movements.

Este artigo implementa recursos de automação residencial de baixo custo para auxiliar deficientes visuais, baseados na plataforma Arduino, e com implementação baseada nos conceitos das tecnologias assistivas de modo a possibilitar a inclusão do deficiente visual no meio acadêmico. A automação sensível ao contexto aumenta o grau de acessibilidade de um ambiente, pois o permite que seja um agente proativo e aja de maneira inteligente, se antecipando as diversas situações com soluções que beneficiam seus usuários. O sistema desenvolvido permite que o usuário utilize a sala de aula, por meio de interfaces de comunicação locais e remotas, baseado em Arduino, possibilitando que este execute de modo pervasivo.

Pessoas com deficiência têm dificuldade de interagir com o ambiente onde vivem, devido às próprias limitações inerentes à sua deficiência. Atividades simples como ligar lâmpada, ventilador, televisão ou qualquer outro equipamento, de forma independente, pode ser impossível para esse grupo de pessoas. Este trabalho apresenta um sistema assistivo multimodal para controlar um ambiente inteligente por meio de sinais biológicos. Os usuários em potencial deste sistema são indivíduos com deficiências motoras graves, que desejam adquirir mais autonomia dentro do ambiente doméstico. Os sinais biológicos utilizados são sEMG, EOG e VOG. Isso possibilitou dois tipos de interação: uma empregando gestos faciais e movimento dos olhos, e a outra utilizando o rastreamento das fixações do olhar (eye/gaze tracking). Um diferencial importante deste trabalho é a utilização de dispositivos convencionais de baixo custo, fácil manuseio e de rápida configuração. No primeiro bloco de testes, o objetivo era a...

Pessoas com deficiência têm dificuldade de interagir com o ambiente onde vivem, devido às próprias limitações inerentes à sua deficiência. Atividades simples como ligar lâmpada, ventilador, televisão ou qualquer outro equipamento, de forma independente, pode ser impossível para esse grupo de pessoas. Este trabalho apresenta um sistema assistivo multimodal para controlar um ambiente inteligente por meio de sinais biológicos. Os usuários em potencial deste sistema são indivíduos com deficiências motoras graves, que desejam adquirir mais autonomia dentro do ambiente doméstico. Os sinais biológicos utilizados são sEMG, EOG e VOG. Isso possibilitou dois tipos de interação: uma empregando gestos faciais e movimento dos olhos, e a outra utilizando o rastreamento das fixações do olhar (eye/gaze tracking). Um diferencial importante deste trabalho é a utilização de dispositivos convencionais de baixo custo, fácil manuseio e de rápida configuração. No primeiro bloco de testes, o objetivo era avaliar o desempenho do sistema utilizando o Emotiv EPOC e o Eye Tracker, comparando a Taxa de Transferência de Informação (ITR) e a Utilidade (U) de ambas as Interfaces Humano-Máquina (IHM) desenvolvidas para controlar o Ambiente Inteligente. Para esses testes foram pré-estabelecidas cinco tarefas, as quais foram realizadas por dez voluntários. No segundo bloco de testes, o objetivo era avaliar a usabilidade (SUS) e o desempenho (GAS) do sistema do ponto de vista do usuário, utilizando o Eye Tracker em três aplicações diferentes: Controle do Ambiente Inteligente (AI), Comunicação Aumentativa e Alternativa (CAA) e Ambiente Virtual (AV). Os testes foram realizados por 17 voluntários (sendo dois com deficiência em todas as aplicações) e foram pré-estabelecidas 5, 5 e 18 tarefas para as três aplicações (AI, CAA e AV, respectivamente). Com relação aos resultados da avaliação de desempenho, observou-se que 15 dos 17 participantes obtiveram resultado esperado ou superior ao esperado logo na primeira utilização. Este resultado ainda pode ser melhorado, à medida que o participante obtiver maior familiaridade com o sistema.

The Gesture is defined as movement of the part of the body. In the existing research work, the research based on the camshift based head gesture recognition system is going on. This existing system deals with some limitations. So, to overcome these limitations, the methodology used in this paper is to improve the existing algorithm and the camera used. This proposed system is used in an intelligent wheelchair for the peoples having parkingson and quadriplegics diseases. The HGR System is the difficult task in the field of image processing. The different researchers applied different algorithms for identifying head gestures in the outdoor environments. In this paper, head gestures of the user are recognized by using thermal camera. The different environmental conditions are the cluttered background, sunshine, shadow, changing illuminations, lighting condition, darkness conditions etc. the role of thermal camera is the best in the darkness conditions. The simulation results shows the ...

Intelligent mobile robot navigation in indoor environments is still a challenge. In this paper, we propose a method in which the wheelchair robot imitates human like navigation by interacting with the surrounding environments. Two types of sensor data are used to train neural networks, which are later used to control the robot to reach the goal location in different indoor environments. The robot navigates from the start to the goal location in the environments with obstacles. In first model, we used the Laser Range Finder (LRF) sensor data as input of the neural network. In the second model in addition to the LRF data, the processed camera sensor data are also utilized. We compare the performance of two neural networks models by analyzing the error between the human and neural network based real robot navigations. The experimental results show that our proposed models are efficient for mobile robot navigations. In addition, errors are analyzed in this paper.

Lengan robot manipulator adalah suatu sistem mekanik yang digunakan dalam memanipulasi pergerakan mengangkat, memindahkan, dan memanipulasi benda kerja untuk meringankan kerja manusia. Lengan robot dalam penelitian ini memanipulasi gerakan memukul shuttlecock seperti pada permainan badminton. Model kinematika merepresentasikan hubungan end effector dalam ruang tiga dimensi dengan variabel sendi dalam ruang sendi. Metode Denavit-Harternberg merupakan sebuah metode yang digunakan untuk membentuk persamaan kinematik yang menggunakan 4 parameter yaitu θ, α, d dan a. Hasil dari penelitian ini didapat persamaan kinematik maju dan kinematik balik yang dapat digunakan sebagai acuan dalam memprogram gerakan lengan robot ke dalam sistem control.Agar Gerakan lengan robot stabil, maka dibutuhkan kontroller PID (Proportional, Integral, dan Differensial) untuk mengontrol kecepatan motor pada lengan robot. Pada penelitian ini mengimplementasikan metode Ziegler-Nichols untuk mendapatkan parameter  ...

Many people those using wheelchairs are not able to control an electronic wheelchair with joystick interface. The iWheel" robotic wheelchair system is a general purpose navigational assistant in environments that are accessible for the disabled (e.g., ramps and doorways of sufficient width to allow a wheelchair to pass). A reactive system does not use maps for navigation. One of the advantages of this strategy is that users can navigate in multiple locations and environments. This report describes indoor navigation in the "iWheel" system; outdoor navigation is currently under development.

Aging is a natural procedure prompt changes in quality and amount of muscles in skeletal, due to which muscle shortcoming and disability in moving of maturing populace. Crumbling pain in the arms and legs in the main cause of movement and the basic cause of disability in the spinal cord, cauda equina, or fringe neuropathy. As a result of seriousness and merits, electric wheelchairs are progressively requested in the recent era. Our proposed work is a smart electric wheelchair control by both joystick and a dependent user recognition voice system. To facilitate the patients in the outdoor environment an automatic sun-tracking solar plate is provided to charge the battery itself and automatically tracks sun position to provide not only power backup but also shadow to walk in sunlight. The navigation device is installed for providing realtime navigation which helps the user to select the shortest and easiest route. The proposed system is cost-effective of existing available in the market and also energy efficient.

Face detection is a computer technology that determines the location & size of human faces in digital images. Thus by determining the head gesture of person sitting on robo chair the controlling of the chair can be done by the improved Adaboost algorithm. The recognized gestures are used to generate motion control commands to the low-level DSP motion controller so that it can control the motion of the Robo Chair according to the user’s need. Looking for something, when the commands for the movement are generating must be considered unnecessary movement, thus to avoid this, Head gesture interface focused on the central position of a person sitting on robo chair & identify only the useful head gesture. This paper determines, the improved Adaboost algorithm used for face detection is to increase the output results for the system, effectiveness of the system & efficiency on which the system implements. The concept of Obstacle detection is also used for the enhancement of the system, it ...

Wearable computing with Input-Output devices Base on Eye-Based Human Computer Interaction: EBHCI which allows location based web services including navigation, location/attitude/health condition monitoring is proposed. Through implementation of the proposed wearable computing system, all the functionality is confirmed. It is also found that the system does work well. It can be used easily and also is not expensive. Experimental results for EBHCI show excellent performance in terms of key-in accuracy as well as input speed. It is accessible to internet, obviously, and has search engine capability.

Tool failure remains one of the most challenging phenomena in machining that affects the productivity and product quality, and hence the cost. In high feed rough milling operations of hard-to-cut materials, chipping and breakage have been observed as the dominant failure modes of the end mill cutters. Most of the work in the open literature is focusing on either detecting the complete tool breakage after it takes place or detecting the progressive tool wear. Detecting the abrupt/sudden tool failure due to tool chipping before it takes place, which is essential to avoid any damage to the machined part, has not been addressed. Therefore, the main objective of this research work is to investigate the ability of using the process monitoring signals in order to detect the tool pre-failure and failure by chipping/breakage in intermittent cutting operations. A method was devised to induce impact load on the cutting tool tip to study the features of signals collected by various sensors due ...

Sari apel merupakan minuman ringan yang terbuat dari buah apel dan air minum dengan atau tanpa penambahan gula dan tambahan makanan yang diizinkan. Proses pemisahan antara ampas dan sari apel umumnya masih manual yaitu dengan menggunakan tenaga manusia. Sehingga apabila jumlah apel semakin banyak, waktu yang dibutuhkan untuk memisahkan ampas dan sari apelnya juga semakin lama. Perlu adanya mekanisme untuk mempercepat waktu produksi melalui pengaturan kecepatan pada ekstraktor sari apel. Spinner motor ini menggunakan Mikrokontroller sebagai kontrolernya dan sensor rotary encoder sebagai sensor kecepatannya. Salah satu metode yang digunakan untuk mengontrol kecepatan Spinner motor adalah PID. Perancangan kontroller PID menggunakan kurva reaksi Ziegler Nichols menghasilkan nilai Kp=10.2 Ki = 255 dan Kd = 1.02. Hasil yang didapatkan antara lain rise time (tr) sebesar 3.5162 s, settling time (ts) 12s, peak time (tp) 5 s dan Percent Overshoot (Po) sebesar 16.15%. Grafik proses spinning di...

Abstract—The mind wave controlling robot system is based on brain-computer interfaces(BCIs). We have used the Neurosky mind wave mobile (EEG Sensor) to detect the electric signals from the mind according to the signals which are transmitted and received by the neurons from the mind. Then we have recognised some of the patterns from our brain like attention level and while we blink. We have processed these signals and used them as command in our system then with the help of microcontroller we have taken the input from our android application which will process the data after fetching it from the EEG Sensor. Then the processed command is recognised by the microcontroller and microcontroller will then take the action to move the robot. We have used only the attention level and the blink strength. If the attention level is above 50% then the system will start moving and to change the command we have to use the blink pattern which is based on the force blink and the normal blink the robo...