ANDROID BASED SMART WHEEL CHAIR

A PROJECT REPORT

SUBMITTED IN PARTIAL FULFILMENT OF THE REQUIRMENTS FOR THE

DEGREE OF

Bachelor of Technology

In

Electrical and Electronics Engineering

By

BIKASH RANJAN RATH (B312013)

K. SATYADEEP (B312018)
PAYAL MAZUMDAR (B312024)
PRIYANKA PRIYADARSHINI (B312025)
ROHAN TIRTHANKAR BEHERA (B312027)
SAMEERKUMAR SETHY (B312032)
SANJAYA KUMAR SAHU (B312036)
SONIT MOHARANA (B312046)
SOREN SIDDHARTH THAKURDAS (B312047)
SREENAINA ANKITA (B312049)
RAJAT KUMAR PRADHAN (B312064)

Under The Guidance Of

DR. TAPAS KUMAR PANIGRAHI
Department of Electrical and Electronics Engineering

International Institute Of Information Technology,

Bhubaneswar-751003 [2012-2016]
ANDROID BASED SMART WHEEL CHAIR
 DECLARATION

We declare that this thesis entitled "ANDROID BASED SMART WHEEL CHAIR" is
the result of our own research except as cited in the references. This thesis has not been
accepted for any degree and is concurrently submitted in candidature of any other degree.

Date:
 ACKNOWLEDGEMENT
We are most pleased to acknowledge that the assistance and guidance given to us by
number of people directly or indirectly in the successful preparation and completion of
our major project report on ANDROID BASED SMART WHEEL CHAIR. Every bit
of suggestion and guidance whether small or large was helpful in the fruition of the
efforts we put for this project.

Our most sincere thanks to our project guide Dr. Tapas Kumar Panigrahi for the
guidance he provided in the selection of the project topic and inspiring us to work hard
on it for successful understanding of the project on the selected topic.

We are also thankful to the staff of Electrical Engg. Dept. for cooperating with us during
the course of our project.

BIKASH RANJAN RATH (B312013)

K. SATYADEEP (B312018)
PAYAL MAZUMDAR (B312024)
PRIYANKA PRIYADARSHINI (B312025)
ROHAN TIRTHANKAR BEHERA (B312027)
SAMEERKUMAR SETHY (B312032)
SANJAYA KUMAR SAHU (B312036)
SONIT MOHARANA (B312046)
SOREN SIDDHARTH THAKURDAS (B312047)
SREENAINA ANKITA (B312049)
RAJAT KUMAR PRADHAN (B312064)

EEE, 8th Semester

 CONTENTS
1. ABSTRACT i
2. PROBLEM DEFINATION ii
3. INTRODUCTION 1
4. BLOCK DIAGRAM DESCRIPTION 2
5. MECHANICAL SOLUTION 3-12
5.1. CALCULATION OF POWER AND TORQUE
3
5.2. CHOOSING THE DC MOTOR
5.3. PMDC MOTOR
6
5.3.1. CONSTRUCTION OF PMDC MOTOR 6
5.3.2. WORKING PRINCIPLE
5.3.3. ADVANTAGES 10
5.3.4. SPEED CONTROL OF PMDC MOTOR 10
5.3.5. APPLICATION AND MOTOR SPECIFICATION 12

6. CONTROL PART 13-38

6.1. ARDUINO AND ASSOCIATE COMPONENT

6.2.1. PIN CONFIGURATION 14

6.2.2. COMMUNICATION 16
6.2.3. AUTOMATIC RESET 17
6.2. MICROCONTROLLER
17-25
6.2.1. HISTORY OF AVR 18
6.2.2. FEATURES OF ATMEGA328 18
6.2.3. PIN DIAGRAM 21
6.2.4. PWM GENERATION 24
6.2.5. FLOW CHART 25
 6.3. BLUETOOTH
26-28
6.3.1. HC 05 27
6.3.2. SPECIFICATION 28
6.4. OPTOCOUPLER
29-30
6.4.1. MCT2E OPTOCOUPLER 29
6.4.2. FEATURES 30
6.5. SPEED CONTROLLING
31-33
6.5.1. SERVOMOTOR 31
6.5.2. APPLICATION 32
6.5.3. ACCELARATOR 33
6.6. MOTOR DRIVER 34
6.6.1. CIRCUIT DIAGRAM 35

6.7. RELAY
36

7. WHEELCHAIR BATTERY TYPE 39-42

7.1.CIRCUIT DIAGRAM 39

7.2.POWER SUPPLY UNIT 40

7.3.FILTERING UNIT 41

8. FUTURE ASPECTS 43
9. CONCLUSION 44
10. REFERENCE 45
 ABSTRACT

In our final year project, we are looking at a problem that a small portion of the
population faces, this portion represents the “disabled”. Before choosing the topic of
our project, the whole group members were determined to make use of our final year
project for a good cause. Our influence might end up being minimal, but remember
that a ten kilometer walk starts with a small step. Disabled people rely heavily on
their wheelchairs for transportation. The wheelchair frees them from their burdens
and constraints and provides them with mobility. It has become a necessity to all,
such that they cannot live without it anymore. For all these reasons, and in order to
start a change, we decided to concentrate our effort on pinpointing the weaknesses in
wheelchairs and improving them as much as we can. Our project will mainly feature
one major idea in accordance with a few minor ones.
 PROBLEM STATEMENT
(i)

Project means more than an assignment. More than fulfilling the teacher’s assessment
.It means innovating something new for needs of people.

We came through this idea when one of our group members witnessed an accident of
a handicapped child walking on a wet floor. The Anonymous boy didn’t hurt himself
much. The boy was made to stand by a couple of people back there and was helped
by them to move. When the group member came and discussed about this incident we
felt very sorry about the boy. We discussed that something should be done by the
authority for physically handicapped people so that they should not feel helpless. One
of our friends, who is also a member of the group stated jokingly why don’t you make
a chair which could help them to walk move and run. All of sudden we all got
astonished. We said that’s not a bad idea. It was also a high time when we were
thinking about our topic. We all agreed and each one of us was excited to work on it.
Hence this accident actually impelled us to make this project ANDROID BASED
SMART WHEEL CHAIR.
As said Project is not an assignment. It is an idea .An idea that can change the course
of living. As an engineer if we could do something which could help some section of
the society, we will realize that our graduation and study was fertile.

(ii)
 INTRODUCTION
With the advancement of technology things are becoming simpler and easier.

In today’s time, an estimated 1% of the world’s population needs a wheelchair. An

increased percentage of elderly and disabled people who want to enhance their personal
mobility, for them wheelchair is the best assistive device. A disabled or an invalid
individual (usually the disability of the lower part of the body) can find it convenient to
move around and maneuver using the help of a chair constructed on wheels which can
either be pushed by another individual or propelled either by physical force or
electronically. Such a chair is called as a Wheelchair. Traditional wheelchairs have some
limitations in context to flexibility, bulkiness and limited functions. Our approach allows
the users to use human gestures of movement like hands and synchronize them with the
movement of the wheelchair so that they can use it with comfort and ease on all kinds of
terrains without the hurdle or cardiovascular problems or fatigue.

Some existing wheelchairs are fitted with pc for the gesture recognition. But making use
of the pc along with the chair makes it bulkier and increases complexity. This complexity
is reduced by making use of the accelerometer, the size of which is very compact and can
be placed on the fingertip of the patients.

Other existing systems, which make use of the similar kind of sensors are wired, which
again increases the complexity of the system. They also limit the long range
communication. This complexity is removed by using the RF transmission. Signals
through RF travel larger distances. Irrespective of line of sight communication, signals
through RF travel even when there is obstruction between the transmitter and receiver.
After well defining earlier in this report the problem we aim to solve, it is now time to
introduce to you the solution. Our solution was divided into three main parts:

1. Mechanical part

2. Control part

3. Electrical part

Mechanical Solution:

The mechanical work was basically based on building the whole system. The system
includes the actual electrical wheelchair with its chassis, motors, chair, and control panel.

In addition to the wheelchair, a combustion engine had to be placed on its own chassis
and connected to the wheelchair.

Now we shall divide the solution into steps:

Choosing the DC Motors:

In order to choose the required DC motors that can do the job, we conducted a theoretical
study that aims to helping us choose the optimal type and size of DC motors.

Horsepower calculations for a 20° incline

fx
W

R= Inclination reaction to wheel chair weight

Fx= Friction Force

W= Wheel Chair Weight

Assumed parameters:

Mwheelchair = 150 Kg
This mass accounts for both the mass of the wheelchair approximated to be equal to 50
Kg, and the mass of a standard disabled user which is about 100 Kg.
• g = 9.81m/s2
• Maximum angle of inclination: αmax = 20°
According to the international laws for transportation the maximum slope angle should
not exceed 20°.
• Coefficient of friction: μ = 0.5
• Wheel Radius: R = 40cm = 0.40 m
• Wheel perimeter: Pwheel = 2.512 m
• Assuming the required acceleration: ax = 1 m/s 2

• The average velocity of the wheelchair is: Vav = 12 km/h = 3.34 m/s

Weight of the Wheelchair, W= M × g = 150 × 9.81 = 1471.5 N

Reaction of the incline, R = W cos (20°) = 1382.75 N
Friction force, ƒx = μmax × R = 0.5 × 1382.75 = 691.375 N
Weight in the direction of the movement, Wx = W sin (20°) = 541.075 N
At equilibrium
ΣFx = F - ƒx - WX = 0
Fmin = ƒx + WX = 691.375 + 541.075 = 1232.45 N
Also: ΣFx = M × ax = F - ƒx - WX
F = 150 + 1232.45
Propulsion force, F = 1382.45 N
Torque at the wheel, T = F × R = 1382.45 × 0.04 = 59.76 N m = 60 Nm
Calculation of rpm, V = 12000/ 60 = 200 m/min
rpm = V/ Pwheel = 79.16 rpm
T = 60 N m = 44.46 lb ft
HP = (T*rpm)/5252
= (44.46* 79.16)/5252
= 0.67
Horsepower calculations on flat surfaces

The wheelchair is going to spend the largest portion of its running time on flat surface.
This is why it is necessary to have an approximate idea of the horsepower required to run
the wheel chair on this kind of terrain.
Weight of the Wheelchair, W= M × g = 150 × 9.81 = 1471.5 N
Reaction of the incline, R = W = 1471.5 N
Friction force, ƒx = μmax × R = 0.5 × 1471.5 = 735.5 N
At equilibrium
ΣFx = F - ƒx = 0
Fmin = ƒx = 735.5 N
Also
ΣFx = M × ax = F - ƒx - Wx
F = 150 + 735.5
Propulsion force, F = 885.75 N

Torque at the wheel

T = F × R = 885.75 × 0.04 = 36N.m
Calculation of rpm
V = 12000/ 60 = 200 m/min
Rpm = V/ Pwheel = 79.16 rpm
T = 36 N.m = 27 lb-ft
HP = (T*rpm)/5252;
= (27 * 79.16)/5252
= 0.406

The motors we chose are PMDC motors. The motors run on a 24 volts and 15 amps
power source. The motors are self braking, but the brakes can be released mechanically
and electrically. If the motor is fed by a 24 volt source, then its brakes will be released
immediately. These motors reach a peak current during starting equal to 19 amps.
 PMDC MOTOR
In a dc motor, an armature rotates inside a magnetic field. Basic working principle of DC
motor is based on the fact that whenever a current carrying conductor is placed inside a
magnetic field, there will be mechanical force experienced by that conductor. All kinds of
DC motors work in this principle only. Hence for constructing a dc motor it is essential to
establish a magnetic field. The magnetic field is obviously established by means of
magnet. The magnet can by any types i.e. it may be electromagnet or it can be permanent
magnet. When permanent magnet is used to create magnetic field in a DC motor, the
motor is referred as permanent magnet dc motor or PMDC motor

When you need high starting and acceleration torque, predictable motor speed properties,
compact size, and energy efficiency, permanent magnet DC (PMDC) motors is the
solution

Construction of Permanent Magnet DC Motor or PMDC Motor

As it is indicated in name of permanent magnet dc motor, the field poles of this motor are
essentially made of permanent magnet. A PMDC motor mainly consists of two parts. A
stator and an armature. Here the stator which is a steel cylinder. The magnets are
mounted in the inner periphery of this cylinder. The permanent magnets are mounted in
such a way that the N – pole and S – pole of each magnet are alternatively faced towards
armature as shown in the figure below. That means, if N – pole of one magnet is faced
towards armature then S – pole of very next magnet is faced towards armature. In
addition to holding the magnet on its inner periphery, the steel cylindrical stator also
serves as low reluctance return path for the magnetic flux. Although field coil is not
required in permanent magnet dc motor but still it is sometimes found that they are used
along with permanent magnet. This is because if permanent magnets lose their strength,
these lost magnetic strengths can be compensated by field excitation through these field
coils. Generally, rare earth hard magnetic materials are used for these permanent magnet
motor

Rotor :

The rotor of pmdc motor is similar to other DC motor. The rotor or armature of
permanent magnet dc motor also consists of core, windings and commutator. Armature
core is made of number of varnish insulated, slotted circular lamination of steel sheets.
By fixing these circular steel sheets one by one, a cylindrical shaped slotted armature
core is formed. The varnish insulated laminated steel sheets are used to reduce eddy
current loss in armature of permanent magnet dc motor. These slots on the outer
periphery of the armature core are used for housing armature conductors in them. The
armature conductors are connected in a suitable manner which gives rise to armature
winding. The end terminals of the winding are connected to the commutator segments
placed on the motor shaft. Like other dc motor, carbon or graphite brushes are placed
with spring pressure on the commutator segments to supply current to the armature.

Working Principle of Permanent Magnet DC Motor or PMDC Motor

As we said earlier the working principle of PMDC motor is just similar to the general
working principle of DC motor. That is when a carrying conductor comes inside a
magnetic field, a mechanical force will be experienced by the conductor and the direction
of this force is governed by Fleming’s left hand rule. As in a permanent magnet dc motor,
the armature is placed inside the magnetic field of permanent magnet; the armature
rotates in the direction of the generated force. Here each conductor of the armature
experiences the mechanical force F = B.I.L Newton where B is the magnetic field
strength in Tesla (weber / m2), I is the current in Ampere flowing through that conductor
and L is length of the conductor in meter comes under the magnetic field. Each conductor
of the armature experiences a force and the compilation of those forces produces a
torque, which tends to rotate the armature.
2-Pole Permanent Magnet Motor

As the armature rotates electrical current is passed from the motors terminals to the next
set of armature windings via carbon brushes located around the commutator producing
another magnetic field and each time the armature rotates a new set of armature windings
are energized forcing the armature to rotate more and more and so on the circuit diagram
of the PMDC is shown below.
In conventional DC motor, the generated or back EMF is given by the equation shown
below.

The electromagnetic torque is given as

In Permanent Magnet DC motor, the value of flux ϕ is constant. Therefore, the above
equation (1) and (2) becomes

Considering the above circuit diagram the following equations are expressed.

Putting the value of E from the equation (3) in equation (5) we get
Advantages of PMDC Motor

1. No need of field excitation arrangement.

2. No input power in consumed for excitation which improve efficiency of dc motor.
3. No field coil hence space for field coil is saved which reduces the overall size of the
motor.
4. Cheaper and economical for fractional kW rated applications.

Speed control of dc motor

So the rotational speed of a DC motor depends upon the interaction between two
magnetic fields, one set up by the stator’s stationary permanent magnets and the other by
the armatures rotating electromagnets and by controlling this interaction we can control
the speed of rotation.
The magnetic field produced by the stator’s permanent magnets is fixed and therefore can
not be changed but if we change the strength of the armatures electromagnetic field by
controlling the current flowing through the windings more or less magnetic flux will be
produced resulting in a stronger or weaker interaction and therefore a faster or slower
speed.
Then the rotational speed of a DC motor (N) is proportional to the back emf (V b) of the
motor divided by the magnetic flux (which for a permanent magnet is a constant) times
an electromechanical constant depending upon the nature of the armatures windings (Ke)
giving us the equation of:N ∝ V/Keϕ.
So how do we control the flow of current through the motor. Well many people attempt
to control the speed of a DC motor using a large variable resistor (Rheostat) in series with
the motor as shown.
While this may work, as it does with Scalextric slot car racing, it generates a lot of heat
and wasted power in the resistance. One simple and easy way to control the speed of a
motor is to regulate the amount of voltage across its terminals and this can be achieved
using “Pulse Width Modulation” or PWM.
As its name suggests, pulse width modulation speed control works by driving the motor
with a series of “ON-OFF” pulses and varying the duty cycle, the fraction of time that the
output voltage is “ON” compared to when it is “OFF”, of the pulses while keeping the
frequency constant.
The power applied to the motor can be controlled by varying the width of these applied
pulses and thereby varying the average DC voltage applied to the motors terminals. By
changing or modulating the timing of these pulses the speed of the motor can be
controlled, ie, the longer the pulse is “ON”, the faster the motor will rotate and likewise,
the shorter the pulse is “ON” the slower the motor will rotate.
In other words, the wider the pulse width, the more average voltage applied to the motor
terminals, the stronger the magnetic flux inside the armature windings and the faster the
motor will rotate and this is shown below.

Pulse Width Modulated Waveform

Characterstic

Application
Permanent Magnet DC motors are useful in a range of applications, from battery powered
devices like wheelchairs and power tools, to conveyors and door openers, welding
equipment, X-ray and tomographic systems, and pumping equipment

Motor specification 

 MY1016Z
 24 Volt DC Operation
 Permanent Magnet DC Motor
 Rated Load RPM: 300
 No Load Current: <2.2 Amps
 Rated Wattage: 250W (0.33 Horsepower)
 Torque Constant – 18 N.m (180 kg-cm)
 Torque stall – 60 N.m (600 kg-cm)
 Rated Current: 13.4 Amps
 Efficiency: 78%
 Reduction Ratio: 9.78:1
 Direct Drive (No Free Spooling)
 Suitable for Forward and Reverse Operations
  Base Mount Model

ARDUINO AND ASSOCIATE COMPONENTS

Analysis of Arduino UNO R3 board:

Arduino is an open-source microcontroller platform with development environment that

implements Processing/Wiring language which is a subset of C and includes several
libraries. The Arduino Uno RG is a microcontroller board based on the ATmega328
(AVR architecture). It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an
ICSP header and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with a AC-
to-DC adapter or battery to get started.

Programming:

The Uno can be programmed with the Arduino Software (IDE). Select "Arduino/Genuino

Uno" from the Tools > Board menu (according to the microcontroller on your board).

The ATmega328 on the Uno comes preprogrammed with a boot loader that allows you to
upload new code to it without the use of an external hardware programmer.

You can also bypass the boot loader and program the microcontroller through the ICSP
(In-Circuit Serial Programming) header using Arduino ISP or similar.

Precautions:

The Uno has a resettable poly fuse that protects your computer's USB ports from shorts
and over current. Although most computers provide their own internal protection, the
fuse provides an extra layer of protection. If more than 500 mA is applied to the USB
port, the fuse will automatically break the connection until the short or overload is
removed.

Differences with other boards:

The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2)
programmed as a USB-to-serial converter.
 Power:

The Uno board can be powered via the USB connection or with an external power
supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or
battery. The adapter can be connected by plugging a 2.1mm center-positive plug into the
board's power jack. Leads from a battery can be inserted in the GND and Vin pin headers
of the POWER connector.

The board can operate on an external supply from 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may become
unstable. If using more than 12V, the voltage regulator may overheat and damage the
board. The recommended range is 7 to 12 volts.

The power pins are as follows:

 Vin: The input voltage to the Uno board when it's using an external power source
(as opposed to 5 volts from the USB connection or other regulated power source). You
can supply voltage through this pin, or, if supplying voltage via the power jack, access it
through this pin.
 5V: This pin outputs a regulated 5V from the regulator on the board. The board
can be supplied with power either from the DC power jack (7 - 12V), the USB connector
(5V), or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins
bypasses the regulator, and can damage your board. We don't advise it.
 3.3V: A 3.3 volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.
 GND: Ground pins.
 IOREF: This pin on the Uno board provides the voltage reference with which the
microcontroller operates. A properly configured shield can read the IOREF pin voltage
and select the appropriate power source or enable voltage translators on the outputs to
work with the 5V or 3.3V.

Memory:

The ATmega328 has 32 KB (with 0.5 KB occupied by the boot loader). It also has 2 KB
of SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM
library).
 Input and Output:

See the mapping between Arduino pins and ATmega328P ports. The mapping for the
Atmega8, 168, and 328 is identical.

Each of the 14 digital pins on the Uno can be used as an input or output,
using pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5 volts.
Each pin can provide or receive 20 mA as recommended operating condition and has an
internal pull-up resistor (disconnected by default) of 20-50k ohm. A maximum of 40mA
is the value that must not be exceeded on any I/O pin to avoid permanent damage to the
microcontroller.

In addition some pins have specialized functions:

 Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data. These pins are connected to the corresponding pins of the ATmega8U2 USB-to-
TTL Serial chip.
 External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt
on a low value, a rising or falling edge, or a change in value.
 PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write()
function.
 SPI: 10 , 11 , 12 , 13 . These pins support SPI communication using the SPI
library.
 LED: 13. There is a built-in LED driven by digital pin 13. When the pin is HIGH
value, the LED is on, when the pin is LOW, it's off.
 TWI: A4 and A5 . Support TWI communication using the Wire library.

The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of
resolution (i.e. 1024 different values). By default they measure from ground to 5 volts,
though is it possible to change the upper end of their range using the AREF pin and the
analog Reference() function.

There are a couple of other pins on the board:

 AREF: Reference voltage for the analog inputs. Used with analog Reference().
 Reset: Bring this line LOW to reset the microcontroller. Typically used to add a reset
button to shields which block the one on the board.

Communication:

The Uno has a number of facilities for communicating with a computer, another Uno
board, or other microcontrollers. The ATmega328 provides UART TTL (5V) serial
communication, which is available on digital pins 0 (RX) and 1 (TX). An ATmega16U2
on the board channels this serial communication over USB and appears as a virtual com
port to software on the computer. The 16U2 firmware uses the standard USB COM
drivers, and no external driver is needed.

However, on Windows, a .inf file is required. The Arduino Software (IDE) includes a
serial monitor which allows simple textual data to be sent to and from the board. The RX
and TX LEDs on the board will flash when data is being transmitted via the USB-to-
serial chip and USB connection to the computer (but not for serial communication on
pins 0 and 1).

A Software Serial library allows serial communication on any of the Uno's digital pins.
The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino
Software (IDE) includes a Wire library to simplify use of the I2C bus; see
the documentation for details. For SPI communication, use the SPI library.

Automatic (Software) Reset:

Rather than requiring a physical press of the reset button before an upload, the Uno board
is designed in a way that allows it to be reset by software running on a connected
computer. One of the hardware flow control lines (DTR) of the ATmega8U2/16U2 is
connected to the reset line of the ATmega328 via a 100 nanofarad capacitor.

When this line is asserted (taken low), the reset line drops long enough to reset the chip.
The Arduino Software (IDE) uses this capability to allow you to upload code by simply
pressing the upload button in the interface toolbar. This means that the boot loader can
have a shorter timeout, as the lowering of DTR can be well-coordinated with the start of
the upload.

MICROCONTROLLER:

Microcontroller can be termed as a system on a chip computer which includes number of

peripherals like RAM, EEPROM, Timers etc., required to perform some predefined task.

Does this mean that the microcontroller is another name for a computer…? The answer is
NO!

The computer on one hand is designed to perform all the general purpose tasks on a
single machine like you can use a computer to run a software to perform calculations or
you can use a computer to store some multimedia file or to access internet through the
browser, whereas the microcontrollers are meant to perform only the specific tasks, for
e.g., switching the AC off automatically when room temperature drops to a certain
defined limit and again turning it ON when temperature rises above the defined limit.

There are number of popular families of microcontrollers which are used in different
applications as per their capability and feasibility to perform the desired task, most
common of these are 8051, AVR and PIC microcontrollers. In this article we will
introduce you with AVR family of microcontrollers.
History of AVR:

AVR was developed in the year 1996 by Atmel Corporation. The architecture of AVR
was developed by Alf-EgilBogen and VegardWollan. AVR derives its name from its
developers and stands for Alf-EgilBogen VegardWollan RISC microcontroller, also
known as Advanced Virtual RISC. The AT90S8515 was the first microcontroller which
was based on AVR architecture however the first microcontroller to hit the commercial
market was AT90S1200 in the year 1997.

AVR microcontrollers are available in three categories:

1. Tiny AVR – Less memory, small size, suitable only for simpler applications
2. Mega AVR – These are the most popular ones having good amount of memory (up to
256 KB), higher number of inbuilt peripherals and suitable for moderate to complex
applications.
3. Xmega AVR – Used commercially for complex applications, which require large
program memory and high speed.

What’s special about AVR?

They are fast: AVR microcontroller executes most of the instructions in single
execution cycle. AVRs are about 4 times faster than PICs; they consume less power and
can be operated in different power saving modes.

AVR is an 8-bit microcontroller belonging to the family of Reduced Instruction Set

Computer (RISC). In RISC architecture the instruction set of the computer are not only
fewer in number but also simpler and faster in operation. The other type of categorization
is CISC (Complex Instruction Set Computers).

8-bit means that the microcontroller is capable of transmitting and receiving 8-bit data.
The input/output registers available are of 8-bits. The AVR families controllers have
register based architecture which means that both the operands for an operation are stored
in a register and the result of the operation is also stored in a register.

Features of ATmega328:

The ATmega328 is a low-power CMOS 8-bit microcontroller based on the AVR

enhanced RISC architecture. By executing powerful instructions in a single clock cycle,
the ATmega328 achieves throughputs approaching 1 MIPS per MHz allowing the system
designed to optimize power consumption versus processing speed.

The Atmel 8-bit AVR RISC-based microcontroller combines

 Memory: Atmega328 consist of three different memory sections:

1. Flash EEPROM: Flash EEPROM or simple flash memory is used to store the
program dumped or burnt by the user on to the microcontroller. It can be easily
erased electrically as a single unit. Flash memory is non-volatile i.e., it retains the
program even if the power is cut-off. Atmega328 is available with 32KB of in
system programmable Flash EEPROM.

2. Byte Addressable EEPROM: This is also a nonvolatile memory used to store

data like values of certain variables. Atmega328 has 1kbytes of EEPROM; this
memory can be useful for storing the lock code if we are designing an application
like electronic door lock.

3. SRAM: Static Random Access Memory, this is the volatile memory of

microcontroller i.e., data is lost as soon as power is turned off. Atmega328 is
equipped with 2KB of internal SRAM. A small portion of SRAM is set aside for
general purpose registers used by CPU and some for the peripheral subsystems of
the microcontroller.

 20 general purpose I/O lines

 32 general purpose working registers : The AVR core combines a rich

instruction set with 32 general purpose working registers. All the 32 registers are
directly connected to the Arithmetic Logic Unit (ALU), allowing two independent
registers to be accessed in one single instruction executed in one clock cycle. The
resulting architecture is more code efficient while achieving throughputs up to ten
times faster than conventional CISC microcontrollers.
 Three flexible timer/counters: Atmega328 consists of two 8-bit and one 16-bit
timer/counter. Timers are useful for generating precision actions for e.g., creating
time delays between two operations.

 Internal and external interrupts : Atmega328 consists of 21 interrupt sources

out of which four are external. The remaining are internal interrupts which
support the peripherals like USART, ADC, and Timers etc.

 Serial programmable USART : Universal Synchronous and Asynchronous

Receiver and Transmitter interface is available for interfacing with external
device capable of communicating serially (data transmission bit by bit).

 A byte-oriented 2-wire serial interface: Two Wire Interface (TWI) can be used
to set up a network of devices, many devices can be connected over TWI interface
forming a network, the devices can simultaneously transmit and receive and have
their own unique address.

  SPI serial port : Serial Peripheral Interface, SPI port is used for serial
communication between two devices on a common clock source. The data
transmission rate of SPI is more than that of USART.

 6-channel 10-bit A/D converter : Atmega328 is equipped with an 6 channel

ADC (Analog to Digital Converter) with a resolution of 10-bits. ADC reads the
analog input for e.g., a sensor input and converts it into digital information which
is understandable by the microcontroller.

 Programmable watchdog timer with internal oscillator : Watchdog timer is

present with internal oscillator. Watchdog timer continuously monitors and resets
the controller if the code gets stuck at any execution action for more than a
defined time interval.

 Five software selectable power saving modes:

1. Idle mode: It stops the CPU while allowing the SRAM, Timer/Counters,
USART, 2-wire Serial Interface, SPI port, and interrupt system to continue
functioning.

2. Power-down: This mode saves the register contents but freezes the
Oscillator, disabling all other chip functions until the next interrupt or
hardware reset.
 3. Power-save mode: In this mode the asynchronous timer continues to run,
allowing the user to maintain a timer base while the rest of the device is
sleeping.

4. ADC Noise Reduction mode: It stops the CPU and all I/O modules
except asynchronous timer and ADC, to minimize switching noise during
ADC conversions.

5. Standby mode: In this mode the crystal/resonator Oscillator is running

while the rest of the device is sleeping. This allows very fast start-up
combined with low power consumption.

The device operates between 1.8-5.5 volts. The device achieves throughputs approaching
1 MIPS per Mhz.

The device is manufactured using Atmel’s high density non-volatile memory technology.
The On-chip ISP Flash allows the program memory to be reprogrammed In-System
through an SPI serial interface, by a conventional non-volatile memory programmer, or
by an On-chip Boot program running on the AVR core.

The Boot program can use any interface to download the application program in the
Application Flash memory. Software in the Boot Flash section will continue to run while
the Application Flash section is updated, providing true Read-While-Write operation. By
combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic
chip, the Atmel ATmega328 is a powerful microcontroller that provides a highly flexible
and cost effective solution to many embedded control applications.

The ATmega328 AVR is supported with a full suite of program and system development
tools including: C Compilers, Macro Assemblers, Program Debugger/Simulators, In-
Circuit Emulators, and Evaluation kits.

PIN DIAGRAM :
Atmega 328 has 20 pins which function as I/O ports. This means they can function as an
input to the circuit or as output. Whether they are input or output is set in the software. 14
of the pins are digital pins, of which 6 can function to give PWM output.
2 of the pins are for the crystal oscillator. This is to provide a clock pulse for the Atmega
chip. A clock pulse is needed for synchronization so that communication can occur in
synchrony between the Atmega chip and a device that it is connected to.
The chip needs power so 2 of the pins, Vcc and GND, provide it power so that it can
operate. The Atmega328 is a low-power chip, so it only needs between 1.8-5.5V of
power to operate.
The Atmega328 chip has an analog-to-digital converter (ADC) inside of it. This must be
or else the Atmega328 wouldn't be capable of interpreting analog signals. Because there
is an ADC, the chip can interpret analog input, which is why the chip has 6 pins for
analog input. The ADC has 3 pins set aside for it to function- AVCC, AREF, and GND.
AVCC is the power supply, positive voltage, that for the ADC.

The ADC needs its own power supply in order to work. GND is the power supply
ground. AREF is the reference voltage that the ADC uses to convert an analog signal to
its corresponding digital value. Analog voltages higher than the reference voltage will be
assigned to a digital value of 1, while analog voltages below the reference voltage will be
assigned the digital value of 0. Since the ADC for the Atmega328 is a 10-bit ADC,
meaning it produces a 10-bit digital value, it converts an analog signal to its digital value,
with the AREF value being a reference for which digital values are high or low. Thus, a
portrait of an analog signal is shown by this digital value; thus, it is its digital
correspondent value.
The last pin is the RESET pin. This allows a program to be rerun and start over.
And this sums up the pin out of an Atmega328 chip.

VCC
Digital supply voltage.

GND
Ground.

Port B (PB7-0)
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port B output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset
condition becomes active, even if the clock is not running.
Depending on the clock selection fuse settings, PB6(XTAL1/ TOSC1) can be used as
input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
Depending on the clock selection fuse settings, PB7(XTAL2/TOSC2) can be used as
output from the inverting Oscillator amplifier.
If the Internal Calibrated RC Oscillator is used as chip clock source, PB7..6 is used as
TOSC2-1 input for the Asynchronous Timer/Counter2 if the AS2 bit in ASSR is set.
PB0-5 are digital pins from which PB1,PB2,PB3 can be used for Pulse Width
Modulation.
 

Port C (PC5-0)
Port C is a 7-bit bi-directional analog I/O port with internal pull-up resistors (selected for
each bit). The PC5-0 output buffers have symmetrical drive characteristics with both high
sink and source capability. As inputs, Port C pins that are externally pulled low will
source current if the pull-up resistors are activated. The Port C pins are tri-stated when a
reset condition becomes active, even if the clock is not running.

PC6/RESET
If the RSTDISBL Fuse is programmed, PC6 is used as an I/O pin. Note that the electrical
characteristics of PC6 differ from those of the other pins of Port C.
If the RSTDISBL Fuse is un programmed, PC6 is used as a Reset input. A low level on
this pin for longer than the minimum pulse length will generate a Reset, even if the clock
is not running.

Port D (PD7-0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port D output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port D pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset
condition becomes active, even if the clock is not running.

AVCC
AVCC is the supply voltage pin for the A/D Converter, PC3:0, and ADC7:6. It should be
externally
connected to VCC, even if the ADC is not used. If the ADC is used, it should be
connected to VCC
through a low-pass filter. Note that PC6..4 use digital supply voltage, VCC.

AREF
AREF is the analog reference pin for the A/D Converter.

PWM Generation:
Pulse Width Modulation (PWM) is a way to provide a variable signal from a given set
signal. PWM does this by changing the pulse width, which in turn, changes the duty cycle
of a square wave to alter how much power is supplied to the attached component.

AnalogWrite function generates a square wave that can be varied in the function. The
two things the function needs to run are a pin/variable and a value to set the duty cycle.
The value that gets input for this function has to be between 0 and 255.

A duty cycle of 100% occurs if the value is set at 255 and a value of 0 gives a duty cycle
of 0%. To get a specific duty cycle a value for AnalogWrite needs to be calculated. This
is shown below.

dutycycle*255 = analogwrite value

For example, a duty cycle of 20% would need to be set at a value of 51.

The digitalWrite function can be used on all 14 digital input/output pins. Unlike
analogWrite, a square wave has to be made manually.

This is done by using both the digitalWrite and delay functions. The digitalWrite
function can only provide a High (5V) or a Low (0V). So manually doing this in the code
provides a square wave. Each time the digitalWrite function is used, it needs to be
followed with the delay function.

The above code currently has a duty cycle of 50%. To get a desired duty cycle, the math
becomes a little harder than for the analogWrite function.
FLOW CHART START

Define RL_1, RL_2, RL_3, RL_4 to Arduino ports

Declare int pos=0, char data[4], int i

Setup RL_1, RL_2, RL_3, RL_4 as Output ports

Attach servomotor to Aurduino output pin

Read the serial data from Bluetooth module and save in data[i]

Calculate

pos = ( dat[0] - 0x30 ) * 100 + ( dat[1] - 0x30 ) * 10 + ( dat[2] - 0x30 )

data[4] is taken from the mobile app which is processed to set the values
for RL_1, RL_2, RL_3, RL_4 (High / Low)

Write the value of pos to servomotor

RL_1: RELAY 1

STOP RL_2: RELAY 2

RL_3:RELAY 3

RL_4: RELAY 4

pos: variable to define servomotor

position

data[]: array for serial communication

 BLUETOOTH

Introduction:

Bluetooth is a specification for Wireless Personal Area. It is a way to connect and

exchange information and data between mobile phones, laptops, digital cameras and
video games. The communication is wireless and has the range of up to 10 meters.

The Bluetooth can connect with another Bluetooth. The data need not be carried on a CD
or any other way it can be transferred by using a wireless method.

The Bluetooth enables to surf the net or check the emails on phones as travel. It is good
for people who are always on the move and would like to keep checking their emails.

Bluetooth will also enables to transfer files, photos, and songs from the mobile to other
device. The Bluetooth comes in with a wireless headsets and it comes in free with the
mobile phone or computer, the wireless headset also useful for people who like to be on
the go or while driving the car.

How Bluetooth Works:

Bluetooth devices will normally operate at 2.4 GHZ in the license free, globally available
Industrial Scientific and Medical (ISM) radio band. The advantage to this band includes
worldwide availability and compatibility. A disadvantage to this however, is that the
devices must share this band with other RF emitters. This includes automobile security
systems, other wireless devices, and other noise sources, such as microwaves.

To overcome this challenge, Bluetooth employs a fast frequency hopping scheme and
therefore uses shorter packets than other standards within the ISM band.

This scheme helps to make Bluetooth communication more robust and more secure.

Frequency hopping
Frequency hopping is basically jumping from frequency to frequency within the ISM
radio band after a Bluetooth device sends or receives a packet, and the devices (or
devices) it’s communicating with hop to another frequency before the next packet is sent.
This scheme offers three advantages

1. Allows Bluetooth devices to use the entirety of the available ISM band, while never
transmitting from a fixed frequency for more than a short period of time. This helps
insure that Bluetooth conforms to the ISM restrictions on the transmission quantity per
frequency.
2. Ensures that any interference won't last long. Any packet that doesn't arrive safely to
its destination can be resent to the next frequency.

3. Provides a base level security as it's very hard for an eavesdropping device to predict
which frequency the Bluetooth devices use next.

HC 05

Overview
HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed
for transparent wireless serial connection setup. Serial port Bluetooth module is fully
qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete
2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04‐External single chip
Bluetooth system with CMOS technology and with AFH (Adaptive Frequency Hopping
Feature). It has the footprint as small as 12.7mmx27mm. Hope it will simplify your
overall design/development cycle.
Specifications
Hardware features

1. Typical‐80dBm sensitivity.
2. Up to +4dBm RF transmit power.
3. Low Power 1.8V Operation, 3.3 to 5 V I/O.
4. PIO control.
5. UART interface with programmable baud rate.
6. With integrated antenna.
7. With edge connector.

Software features

1. Slave default Baud rate: 9600, Data bits:8, Stop bit:1,Parity:No parity.
2. PIO9 and PIO8 can be connected to red and blue led separately. When master and
slave are paired, red and blue led blinks 1time/2s in interval, while disconnected
only blue led blinks 2times/s.
3. Auto‐connect to the last device on power as default.
4. Permit pairing device to connect as default.
5. Auto‐pairing PINCODE:”1234” as default.
6. Auto‐reconnect in 30 min when disconnected as a result of beyond the range of
connection.

Typical Application Circuit

 OPTOCOUPLER
An optocoupler or sometimes refer to as opt isolator allows two circuits to exchange
signals yet remain electrically isolated. This is usually accomplished by using light   to
relay the signal.

The standard opt coupler circuits design uses a LED shining on a phototransistor-usually
it is a npn transistor.

The signal is applied to the LED, which then shines on the transistor in the IC.

The optocoupler usually found in switch mode power supply circuit in many electronic
equipment. It is connected in between the primary and secondary section of power
supplies.

Function :-
The optocoupler application or function in the circuit is to:

1. Monitor high voltage

2. Output voltage sampling for regulation
3. System control micro for power ON/OFF
4. Ground isolation

MCT2E Optocoupler

The MCT2E series of optocoupler devices each consist of gallium arsenide infrared LED
and a silicon NPN phototransistor. They are packaged in a 6-pin DIP package and
available in wide-lead spacing.
The optocoupler usually found in switch mode power supply circuit, read relay driving,
industrial controls, digital logic inputs and in many electronic equipments.

Pin 1: Anode.

Pin 2: Cathode.

Pin 3: No connection.

Pin 4: Emitter.

Pin 5: Collector.

Pin 6: Base.

Features:

 Isolation test voltage 5000 VRMS

 Interfaces with common logic families
 Input-output coupling capacitance < 0.5 pF
 Industry standard dual-in-line 6 pin package
 Compliant to RoHS directive 2002/95/EC

Circuit :

It is a combination of 1 LED and a transistor. Pin 6 of transistor is not generally used

and when light falls on the base-emitter junction then it switches and pin5 goes to
zero.

When logic zero is given as input then the light doesn’t fall on transistor so it doesn’t
conduct which gives logic one as output.

When logic 1 is given as input then light falls on transistor so that it conducts, that
makes transistor switched ON and it forms short circuit this makes the output is logic
zero as collector of transistor is connected to ground.
 SPEED CONTROLLING

To control the speed of wheel chair the motors are connected through accelerator. The
accelerator is mechanically controlled by a servo motor.

So the speed controlling unit consists of a) servomotor, b) accelerator

SERVOMOTOR

A servomotor is a rotary actuator or linear actuator that allows for precise control of

angular or linear position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servomotors.

A servomotor is a closed-loop servomechanism that uses position feedback to control its

motion and final position. The input to its control is some signal, either analogue or
digital, representing the position commanded for the output shaft.

The motor is paired with some type of encoder to provide position and speed feedback. In
the simplest case, only the position is measured. The measured position of the output is
compared to the command position, the external input to the controller. If the output
position differs from that required, an error signal is generated which then causes the
motor to rotate in either direction, as needed to bring the output shaft to the appropriate
position. As the positions approach, the error signal reduces to zero and the motor stops.

Working Principle:

The term servo applies to a function or a task.

The function, or task, of a servo can be described as follows. A command signal which is
issued from the user's interface panel comes into the servo's "positioning controller". The
positioning controller is the device which stores information about various jobs or tasks.
It has been programmed to activate the motor/load, i.e. change speed/position.

The signal then passes into the servo control or "amplifier" section. The servo control
takes this low power level signal and increases, or amplifies, the power up to appropriate
levels to actually result in movement of the servo motor/load. These low power level
signals must be amplified: Higher voltage levels are needed to rotate the servo motor at
appropriate higher speeds and higher current levels are required to provide torque

to move heavier loads. This power is supplied to the servo control (amplifier) from the
"power supply" which simply converts AC power into the required DC level. It also
supplies any low level voltage required for operation of integrated circuits. As power is
applied onto the servo motor, the load begins to move, speed and position changes.

As the load moves, so does some other "device" move . This other "device" is either a
tachometer, resolver or encoder (providing a signal which is "sent back" to the
controller). This "feedback" signal is informing the positioning controller whether the
motor is doing the proper job.

The positioning controller looks at this feedback signal and determines if the load is
being moved properly by the servo motor; and, if not, then the controller makes
appropriate corrections. Therefore, a servo involves several devices. It is a system of
devices for controlling some item(load). The item (load) which is controlled (regulated)
can be controlled in any manner, i.e. position, direction, speed. The speed or position is
controlled in relation to a reference (command signal), as long as the proper feedback
device (error detection device) is used. The feedback and command signals are compared,
and the corrections made. Thus, the definition of a servo system is, that it consists of
several devices which control or regulate speed/position of a load.

The control of a motor will employ some type of power semiconductor. These devices
regulate the amount of power being applied onto the motor, and moving the load. With
PWM techniques, power is regulated by applying pulses of variable width, i.e. by
changing or modulating the pulse widths of the power. It applies narrow, discrete (when
necessary) power pulses. Operation is as follows: With the pulse width small, the average
voltage applied onto the motor is low, and the motor's speed is slow. If the width is wide,
the average voltage is higher, and therefore motor speed is higher.

APPLICATION:

1. Radio controlled airplanes to position control surfaces.

2. Robots for their smoothing switching on and off
3. Aerospace industries
4. Automobile industries for speed control of vehicles
ADVANTAGES:

1. low cost
2. smooth rotation at low speed
3. no power use at stand still
4. high peak torque available

Aceelarator:

Aceelarator based on the principle of voltage divider rule. Voltage dividers use a resistive
element and a wipe. The resistive element, also called a carbon track, is basically a piece
of graphite. Moving the arm across the resistive element effectively alters the resistance
on either side of the arm (R1 and R2). Moving the wiper clockwise increases R2 and
decreases R1 and moving it counterclockwise does the opposite arm to "divide" an input
voltage (called a reference voltage). When the throttle rotated by some position you move
the wiper arm closer to the reference voltage end of the resistive element (Vref). What
does this do to the output voltage sent to the ECU? Imagine current flowing from positive
(Vref) to the wiper arm. By moving the arm closer to the reference voltage, you decrease
the "amount of resistance" through which the current must flow before it reaches the
wiper arm. This increases the output voltage to the ECU. The exact relationship between
the output voltage, the reference voltage, and the position of the wiper arm can be written
as an equation:

Physical movement of the pedal moves a wiper across a resistance element and alters the output
voltage to the ECU. The problem with potentiometer-based sensors is that, as the wiper arm and
the resistive element rub against one another, they eventually wear out.
 Motor Driver
Today's motors are increasingly driven via electronic controls, which offer better control
of speed, position, and torque, as well as much greater efficiency, rather than via direct
connection to their source of power (whether AC or DC).

To do this, the motor-control circuit must switch the current flow to the motor's coils on
and off quickly, with minimal switching-time or conduction-period losses in the switch
itself.

That's where MOSFETs and IGBTs are used. Both of these semiconductor devices serve
the needs of motor drive and power control; each is better suited in some application
situations. These electrically controllable switches are similar in function and attributes,
and have some overlap in internal design, and yet they are quite different in many ways.

In most applications, these switches are used in an H-bridge configuration, where they
control the current flow path to two or more motor coils. This allows full control of the
motor speed and direction.

The MOSFET is a field-effect transistor that, depending on size and design, can switch a
few hundred milliamps to tens of amps, and single-digit voltages to thousands of volts.
Although there are many ways to draw it on a schematic, the most common symbol.

Note that there are just three connections: source, drain, and gate; the gate controls the
current flow from source to drain. Smaller MOSFETs can be fabricated directly on a
standard MOS IC die, and so can be part of an integrated, single-chip solution (but only
at fairly low power levels, due to die size and dissipation issues).

Prime components :

1. Timer (IC 555)

2. BJT
3. MOSFET
4. Load
Circuit Diagram:

IC-NE555 timer is a square wave frequency generator output . It works as square-wave

form generator with duty cycle varying from 50% to 100%, Oscillator and can also
provide time delay in circuits. The 555 timer got its name from the three 5k ohm resistor
connected in a voltage-divider pattern which is shown in the figure below. A simplified
diagram of the internal circuit is given below for better understanding as the full internal
circuit consists of over more than 16 resistors, 20 transistors, 2 diodes, a flip-flop and
many other circuit components.

The IC consists of two comparators, a resistor chain, a Flip Flop and an output stage. It
works in 3 basic modes- Astable, Monostable (where it acts a one shot pulse generator
and Bistable mode.  That is, when it is triggered; the output goes high for a period based
on the values of the timing resistor and capacitor

The circuit consists of an arrangement of a potentiometer and two diodes, which is used
to change the duty cycle and keep the frequency constant. As the resistance of the
variable resistor or potentiometer is varied, the duty cycle of the pulses applied to the
MOSFET varies and accordingly the DC power to the motor varies and thus its speed
increases as the duty cycle increases.
 RELAY
Relays are electromagnetic switches used as protective devices, indicating devices
and as transmitting devices. Protective relay protect good component from the
effects of the circuit components that have failed. Transmission relay are used in
communication systems. Indicating relay may be used to identify a component
which has failed. Transmission relay may be used to identify a component which
has failed.

The relay is one of the most widely used components in industrial electronic. In
combination with transistors, electron tubes and other circuits elements , this
electromagnetic device performs countless tasks. Relays are electro magnetically
operated remote controlled switches with one or more sets of contacts. When
energized, the relay operates to open or close its contacts or to open some contacts
and close others. Contacts which are opened close others. Contacts which are
opened when energized are called “Normally Open” (NO) or simply open contacts.
Contacts which are closed when energized are called “Normally Closed” (NC) or
simply open contacts. Normally open contacts are referred to as “a” contacts.
Normally closed contact is sometimes referred to as “b” contact.
There are certain terms associated with relays. The relay is said to “pick up” when it
is energized and trips, and this “pick up” value is the smallest value of the
fluctuating current required to close “a” contact or open “b” contact or closing “b”
contact is said to “reset” or “dropout”.
Relay contact are held in their normal position by either springs or by some gravity-
activated mechanism. An adjustment or adjustments are usually provided to set the
restraining force to cause the relay to operate within predetermined conditions.
Relay operates on one of the two different principles namely ‘electromagnetic
attraction’ or ‘electromagnetic induction’. Electromagnetic attraction type relays,
which may either be AC or DC actuated, consists of an electromagnet having a core
and winding.
The core, the armature and plunger are made of magnetic material such as iron,
silicon steel, or perrnalloy (an alloy of nickel and steel). The arrangement of parts in
attraction armature type relay as shown in fig 2 connection to the winding of the
electromagnet are brought to terminals 1 and 2. The movable contact is fixed on the
armature. A spring, whose tension is adjustable, retains the armature from closing
the gap between the stationary and movable contact.

The relay shown as normally open contact (4 & 3) and contact 4 & 5 are normally
closed. Connections to the two contacts are made at terminal 3 and 4 of the relays,
when they energize.

When terminals 1 and 2 are connected to a source of electric current, an

electromagnet is formed, and the armature is attracted to the core. If there is
sufficient current to overcome the restraining force of the spring the relay contacts
close. The armature will be attracted whether the pole of the electromagnet adjacent
to the armature is the North or South.

Therefore, the energizing current for the electromagnet can be either direct or
alternating. However, an AC attraction type relay from a DC relay in that it has a
shading ring, whereas the DC relay does not. The shading ring is a non-magnetic
device which is inserted in to a slot cut in the coil and minimizes the tendency of the
relay contacts to chatter under the influence of the alternating magnetic field.
In our project we have used opto-isolator to supply the signal from the processor to
the relay. The opto-isolator receives 5V signal from the microcontroller and it
switches the 12V supply of the relay on which it works. The relay then operates to
switch the 24V PWM signal it received from the motor driver. Then it supplies 24V
signal to the motor. So here relay acts as a heart of our project power transfer
system.

4d
 THE WHEELCHAIR BATTERY TYPE

We need 24 V to run two DC motors, for this we used two 12V valve regulated lead acid
batteries and we connected them in series to provide us with the necessary 24V.

The lead–acid battery was invented in 1859 by French physicist Gaston Plante and is the
oldest type of rechargeable battery. Despite having a very low energy-to-weight ratio and
a low energy-to-volume ratio, its ability to supply high surge currents means that the cells
have a relatively large power-to-weight ratio. These features, along with their low cost,
make it attractive for use in motor vehicles to provide the high current required by
automobile starter motors.
POWER SUPPLY UNIT:
As we all know any invention of latest technology cannot be activated without the source
of power. So it this fast moving world we deliberately need a proper power source which
will be apt for a particular requirement. All the electronic components starting from diode
to Intel IC’s only work with a DC supply ranging from -+5v to -+12v. We are utilizing
for the same, the cheapest and commonly available energy source of 230v-50Hz and
stepping down, rectifying, filtering and regulating the voltage. This will be dealt briefly
in the forth-coming sections.

STEP DOWN TRANSFORMER:

When AC is applied to the primary winding of the power transformer it can either be
stepped down or up depending on the value of DC needed. In our circuit the transformer
of 230v/15-0-15v is used to perform the step down operation where a 230V AC appears
as 15V AC across the secondary winding. One alteration of input causes the top of the
transformer to be positive and the bottom negative. The next alteration will temporarily
cause the reverse. The current rating of the transformer used in our project is 2A. Apart
from stepping down AC voltages, it gives isolation between the power source and power
supply circuitries.

RECTIFIER UNIT:
In the power supply unit, rectification is normally achieved using a solid state
diode. Diode has the property that will let the electron flow easily in one direction at
proper biasing condition. As AC is applied to the diode, electrons only flow when the
anode and cathode is negative. Reversing the polarity of voltage will not permit electron
flow.
A commonly used circuit for supplying large amounts of DC power is the bridge
rectifier. A bridge rectifier of four diodes (4*IN4007) are used to achieve full wave
rectification. Two diodes will conduct during the negative cycle and the other two will
conduct during the positive half cycle. The DC voltage appearing across the output
terminals of the bridge rectifier will be somewhat lass than 90% of the applied rms value.
Normally one alteration of the input voltage will reverse the polarities. Opposite ends of
the transformer will therefore always be 180 deg out of phase with each other.
For a positive cycle, two diodes are connected to the positive voltage at the top
winding and only one diode conducts. At the same time one of the other two diodes
conducts for the negative voltage that is applied from the bottom winding due to the
forward bias for that diode. In this circuit due to positive half cycleD1 & D2 will conduct
to give 10.8v pulsating DC. The DC output has a ripple frequency of 100Hz. Since each
altercation produces a resulting output pulse, frequency = 2*50 Hz. The output obtained
is not a pure DC and therefore filtration has to be done.
FILTERING UNIT:
Filter circuits which are usually capacitors acting as a surge arrester always follow
the rectifier unit. This capacitor is also called as a decoupling capacitor or a bypassing
capacitor, is used not only to ‘short’ the ripple with frequency of 120Hz to ground but
also to leave the frequency of the DC to appear at the output. A load resistor R1 is
connected so that a reference to the ground is maintained. C1R1 is for bypassing ripples.
C2R2 is used as a low pass filter, i.e. it passes only low frequency signals and bypasses
high frequency signals. The load resistor should be 1% to 2.5% of the load.

1000f/25v : for the reduction of ripples from the pulsating.

10f/25v : for maintaining the stability of the voltage at the load side.

O, 1f : for bypassing the high frequency disturbances.

VOLTAGE REGULATORS:
The voltage regulators play an important role in any power supply unit. The
primary purpose of a regulator is to aid the rectifier and filter circuit in providing a
constant DC voltage to the device. Power supplies without regulators have an inherent
problem of changing DC voltage values due to variations in the load or due to
fluctuations in the AC liner voltage. With a regulator connected to the DC output, the
voltage can be maintained within a close tolerant region of the desired output. IC7812
and 7912 is used in this project for providing +12v and –12v DC supply.
SPECIFICATIONS:
Resistors R1 and R2 maintain line load regulation.
At the secondary side of the transformer,
Applied voltage = 15v
Conducting drop across the diodes = 2*0.6= 1.2v.
Without capacitor:
Vavg = (15-1.2)v = 13.8c pulsating DC
Frequency = 100Hz
With capacitor:
V=Vavg *1.414(form factor) = 19.51v.
Frequency = 0Hz
With 7812 voltage regulator:
V0= +12v
With 7912 voltage regulator:
V0= -12v
 FUTURE ASPECTS

Important aspect of our minor project is to control motors of wheel chair from hand
gesture controller, which is successfully implemented in Proteus Software. In future we
are going to implement the design in hardware. As our project has the ability to improve
the flexibility, bulkiness and limited function of traditional wheel chair, our approach
allows the user to use human gesture of movement like hand and synchronize them with
movement of wheel chair so they can be used with comfort and eases on all kind of
terrains without the hurdles or cardio vascular problem or fatigue.

In future it can be controlled from android mobile application.

 CONCLUSION

The wheelchair that we designed is still in its first phase of development. Therefore, our
main goal was to make it work as it was planned to by any means possible. This leaves
margin for many ways of improvement. First of all most important improvement we can
make is to replace hand gesture control with Android application. The battery we are
using is designed to charge from AC supply, we can add solar charging system to
enhance utilization of renewable energy.

Another improvement deals with the software that is controlling the propulsion of the
wheelchair. Our code is performing the job of controlling the motor in Proteus Software
well, but we are still working on the code for reliable operation of wheel chair in the
hardware implementation.

BIBLIOGRAPHY
1. https://en.wikipedia.org/wiki/Motorized_wheelchair

2. http://cstmuseum.techno-science.ca/en/

3. https://en.wikipedia.org/wiki/Accelerometer

4. https://en.wikipedia.org/wiki/Brushless_DC_electric_motor

5. https://www.futurlec.com/Atmel/ATMEGA16.shtml

6. http://robokits.co.in/wireless-solutions/433mhz-rf-transmitter-module-receiver-

module-link

7. N-technology

8. Electronics World

9. Electrical projects.com

10. Industrybuying.com