MID GRAD CAPSTONE PROJECT REPORT

On
DISTANCE MEASUREMENT USING ULTRASONIC SENSOR
WITH
ESP32 AND MICRO PYTHON
Submitted in partial fulfilment of the
Requirements for the award of the Degree of

Bachelor of Technology
in
ELECTRICAL AND ELECTRONICS ENGINEERING

Submitted By
M. Ajay kumar (2100069071)

Under guidance of

Dr . SVNL LALITHA

Associate. Professor
Dept. of EEE

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

KLEF
Green Fields, Vaddeswaram , Guntur District-522 502
2022-2023

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 KLEF
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

This is to certify that this mid grad capstone project report entitled “Distance Measurement
using Ultrasonic Sensor with ESP32 and Micro Python “is a bonafide work done by M.
Ajay kumar (2100069071) in partial fulfilment of the requirements for the award of degree in
BACHELOR OF TECHNOLOGY in ELECTRICAL AND ELECTRONICS
ENGNEERING during the Academic year 2022-2023.

Faculty in Charge Head of the Department

Dr. SVNL LALITHA Dr.A.Pandian

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 KLEF
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

I hereby declare that this mid grad capstone project report title “Distance Measurement using
Ultrasonic Sensor with ESP32 and Micro Python” has been prepared by us in partial
fulfilment of the requirements for the award of degree “BACHELOR OF TECHNOLOGY in
ELECTRICAL AND ELECTRONICS ENGINEERING” during the Academic year 2022-
2023

We also declare that this mid grad capstone project report is of our own efforts and it has not
been submitted to any other university for the award of any degree.

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 ACKNOWLEDGEMENT

My sincere thanks to Dr. SVNL LALITHA in the Lab for their outstanding support
throughout the project for the successful completion of the work.

I express my gratitude to Dr. A. Pandian, Head of the Department for Electrical and
Electronics Engineering for providing us with adequate facilities, ways and means by which I
able to complete this mid grad capstone project.

I would like to place on record the deep sense of gratitude to the honourable Vice Chancellor,
K L Deemed to be University for providing the necessary facilities to carry the mid grad
capstone project.

Last, but not the least, I thank all Teaching and Non-Teaching Staff of our department and
especially my classmates and my friends for their support in the completion of my mid grad
capstone project.

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 ABSTRACT

This project demonstrates the seamless integration of ultrasonic sensors with the ESP32
microcontroller using Micro Python, enabling precise distance measurement. Ultrasonic
sensors, known for emitting and detecting ultrasonic waves, serve as the cornerstone for
accurately calculating distances based on wave reflection times. We delve into the
implementation of sophisticated distance measurement algorithms, emphasizing their vital
role in the realms of IoT and robotics. Leveraging the ESP32's robust capabilities and
programming flexibility offered by Micro Python, this project achieves a high level of
accuracy in distance measurement. We further explore potential real-world applications,
showcasing the versatility and adaptability of this technology stack. This endeavour
underscores the potential impact of such integrations in revolutionizing various industries,
paving the way for enhanced automation, safety, and efficiency.

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 CONTENTS
Page No
CHAPTER 1: INTRODUCTION
1.1 Defining ESP32 8
1.2 Main Components And Working 9
CHAPTER 2: LITERATURE SURVEY 10
CHAPTER 3: CHAPTER 3
OVERVIEW ON DISTANCE MEASUREMENT USING ULTRASONIC SENSOR
WITH ESP32 AND MICRO PYTHON
3.1 Architecture Of Project 13
3.2 Components Required 14
CHAPTER 4: MODELING OF DISTANCE MEASUREMENT USING ULTRASONIC
SENSOR WITH ESP32 AND MICRO PYTHON
4.1 Practical Implementation 17
4.2 Steps To Download Thonny 19
4.3 Problems Faced 19
4.4 Flow Chart And Block Diagram 22
4.5 Model Output 23
4.6 Thonny Code 23
APPLICATIONS OF DISTANCE MEASUREMENT USING ULTRASONIC SENSOR
WITH ESP32 AND MICRO PYTHON 28
CONCLUSION 29
FUTURE SCOPE 30
REFERENCES 31

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 CHAPTER 1
INTRODUCTION
Distance measurement is a fundamental requirement in various domains, including
robotics, automation, and IoT applications. Accurate and reliable distance measurements play
a critical role in enabling autonomous navigation, obstacle detection, object positioning, and
environmental monitoring. One of the prominent technologies for distance measurement is
the use of ultrasonic sensors.

Ultrasonic sensors operate on the principle of emitting ultrasonic waves and measuring the
time it takes for these waves to bounce back after hitting an object. This project focuses on
integrating ultrasonic sensors with the ESP32 microcontroller, a versatile and powerful
platform known for its dual-core processing and built-in Wi-Fi and Bluetooth capabilities.
The integration is facilitated through Micro Python, a lightweight and efficient
implementation of Python optimized for microcontrollers.

In this project, we aim to demonstrate the seamless integration of ultrasonic sensors with the
ESP32 using Micro Python for precise distance measurement. The ESP32's robust
capabilities and the flexibility of Micro Python offer a conducive environment for accurate
distance measurement and pave the way for innovative applications in the domains of IoT,
robotics, and automation. This integration holds the promise of contributing to advancements
in technology and enhancing the functionality of various real-world applications.

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ULTRASONIC SENSOR

As the name indicates, ultrasonic sensors measure distance by using ultrasonic

waves. The sensor head emits an ultrasonic wave and receives the wave reflected back
from the target. Ultrasonic Sensors measure the distance to the target by measuring the
time between the emission and reception. An optical sensor has a transmitter and receiver,
whereas an ultrasonic sensor uses a single ultrasonic element for both emission and
reception. In a reflective model ultrasonic sensor, a single oscillator emits and receives
ultrasonic waves alternately. This enables miniaturization of the sensor head.
Distance calculation

The distance can be calculated with the following formula:

Distance L = 1/2 × T × C

Where L is the distance, T is the time between the emission and reception, and C is the sonic
speed .

(The value is multiplied by 1/2 because T is the time for go-and-return

distance.) Features The following list shows typical characteristics enabled by
the detection system. [Transparent object detectable]
Since ultrasonic waves can reflect off a glass or liquid surface and return to the sensor head,
even transparent targets can be detected. [Resistant to mist and dirt]

Fig 1.1 ULTRASONIC SENSOR

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ESP32

The ESP32, developed by Espresso if Systems, is a powerful and versatile

microcontroller that has gained significant traction in the realm of embedded systems and
IoT. It stands as an advanced successor to the ESP8266, building upon its success and
enhancing features. At its core, the ESP32 boasts a dual-core Ten silica Extensa LX6
microprocessor, offering high processing power and efficiency. One of its standout features is
its integrated wireless capabilities, supporting Wi-Fi 802.11 b/g/n and a wide range of
Bluetooth protocols.

This microcontroller comes equipped with a rich set of peripherals and interfaces, including
GPIO pins, SPI, I2C, UART, and more, enabling seamless integration with a variety of
sensors and devices. Its low power consumption features make it apt for battery-powered
applications and extend its applications into the realm of wearables and other energy-efficient
solutions. Additionally, the ESP32 provides secure boot, flash encryption, and secure storage,
ensuring data and code security.

What makes the ESP32 even more appealing is its flexibility in programming. Developers
can choose from multiple programming environments such as Arduino IDE, Micro Python,
Espresso IDF, and Platform IO. Its compatibility with Micro Python simplifies and
accelerates the development process, making it a popular choice for quick prototyping and
product development. The ESP32 has a vibrant and active community that continuously
contributes to its extensive libraries, tutorials, and projects, making it a favourite among both
beginners and experienced developers. Overall, the ESP32's amalgamation of robust
processing, integrated wireless connectivity, rich interfaces, and ease of programming make it
a preferred microcontroller for a diverse range of IoT and embedded applications.

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 Fig 1.2 ESP32

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 CHAPTER 2

LITERATURE SURVEY
A radar system has a transmitter that emits radio waves called a radar signals
in :reflected or scattered in many directions Example:- let us take example for bat Bat
released the eco sound while travelling .if any object came in middle and it reflect back to the
bat

Fig 2.1 PRINCIPAL OF METALOGY

Applications and usages: -

The development of the radar technology took place during the World War II in which
it was used for detecting the approaching aircraft and then later for many other purposes
which finally led to the development of advanced military radars being used these days.
Military radars have a highly specialized design to be highly mobile and easily transportable,
by air as well as ground. Military radar should be an early warning, altering along with
weapon control functions. It is specially designed to be highly mobile and should be such that
it can be deployed within minutes.

A literature survey involves reviewing existing research, publications, and academic work
related to a specific topic. In the context of "Distance Measurement using Ultrasonic Sensor
with ESP32 and Micro Python," the literature survey would encompass a review of relevant
research papers, articles, books, and online resources focusing on ultrasonic sensors, ESP32
microcontroller, Micro Python, and distance measurement applications. It aims to gather

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knowledge, identify existing methodologies, understand challenges, and potentially discover
gaps or areas for further exploration. Below is a brief overview of what a literature survey for
this project could entail:

1. Ultrasonic Sensors and Distance Measurement:

- Research papers and articles explaining the principles of ultrasonic sensors, signal
processing techniques, and methods for accurate distance measurement using ultrasonic
waves.

2. ESP32 Microcontroller and its Applications:

- Academic papers, technical articles, and documentation on the ESP32 microcontroller,

detailing its features, architecture, and applications in various domains, especially in IoT and
robotics.

3. Micro Python for Embedded Systems:

- Literature detailing the use of Micro Python for embedded programming, its advantages,
supported microcontrollers, and case studies demonstrating its efficacy in real-world
applications.

4.Integration of Ultrasonic Sensors with Microcontrollers:

- Studies showcasing the integration of ultrasonic sensors with different microcontrollers,

understanding the challenges, and proposing solutions to enhance accuracy and efficiency.

5. Applications of Ultrasonic Sensors in IoT and Robotics:

- Research articles illustrating how ultrasonic sensors are utilized in IoT devices, robotics,
automation, and other applications, with a focus on distance measurement and obstacle
detection.

6. Practical Implementations and Projects:

- Reviews of practical projects similar to the intended project, where ultrasonic sensors are
integrated with microcontrollers for distance measurement, highlighting lessons learned, best
practices, and innovations.

7. Comparative Studies:

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 - Comparative analyses of various distance measurement techniques, including ultrasonic,
infrared, and laser-based methods, to understand the strengths and weaknesses of each
approach

CHAPTER 3

OVERVIEW ON DISTANCE MEASUREMENT USING

ULTRASONIC SENSOR WITH ESP32 AND MICRO PYTHON

Components Required:

In this project we have used the Arduino and ultrasonic sensor along with the jumping
wires and the relay motors and details list of the hardware components are

SNO NAME OF COMPONENTS REQUIRED

1 Ultrasonic Sensor
2 ESP32
3 Jumper Wires
4 Bread Board
5 Double Side Tape
6 Glue Gun

Introduction to Ultrasonic Distance Measurement:

This chapter initiates with a thorough introduction to ultrasonic sensors and their pivotal role
in measuring distances. We elucidate the underlying principles that govern the functioning of
ultrasonic waves, their propagation, reflection, and how this forms the basis for calculating
distances.

Working of Ultrasonic Sensors:

Delving deeper into the operational intricacies, we explain how ultrasonic sensors function,
elaborating on wave generation, transmission, reflection, and the crucial aspect of time-of-
flight measurement. This section sheds light on the fundamental science that enables
ultrasonic sensors to measure distances accurately.

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ESP32 Microcontroller for Sensor Integration:

Next, we shift our focus to the ESP32 microcontroller, a vital component of this project. We
present a comprehensive overview of its features and capabilities, emphasizing its seamless
integration with ultrasonic sensors. Additionally, we discuss the necessary hardware
configurations and connections required for effective interfacing.

Micro Python for Embedded Programming:

In this segment, we introduce Micro Python, a powerful tool for embedded programming. We
outline its advantages and suitability for ESP32-based projects. Furthermore, we provide
insights into essential programming constructs and syntax within Micro Python relevant to
our distance measurement application.

Integration and Interfacing of Ultrasonic Sensors:

Moving on, we detail the practical steps for interfacing ultrasonic sensors with the ESP32
microcontroller. We emphasize the necessary wiring, connections, and configurations to
ensure a robust hardware setup. Furthermore, we showcase the software setup essential for
seamless communication between the ESP32 and the sensors.

Distance Measurement Algorithms:

A significant focus of this chapter is dedicated to exploring diverse distance measurement

algorithms tailored for ultrasonic sensors. We explain key algorithms, such as pulse width
measurement and time-of-flight calculations, unravelling their strengths, weaknesses, and
applications in achieving precise distance measurements.

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 Fig 3.1 ARCHITECTURE OF PROJECT

Fig 3.2 BLOCK DIAGRAM

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 CHAPTER 4

PRACTICAL IMPLEMENTATION

For this project's hardware implementation, we outline the essential components required,
primarily focusing on the ultrasonic sensors, ESP32 microcontroller, and connecting wires.
The ultrasonic sensors, pivotal for distance measurement, are typically HC-SR04 or similar
models. Likewise, an ESP32 development board serves as the core microcontroller.
Connecting wires, particularly male-to-female jumper wires, are essential for establishing
electrical connections between components.

To guide through the physical assembly, we break down the process into a step-by-step
approach, aiming for clarity and ease of implementation. Firstly, it's crucial to understand the
pin configuration of the ultrasonic sensors, comprising VCC (Power), GND (Ground), TRIG
(Trigger), and ECHO (Echo). Connecting the VCC and GND of the ultrasonic sensors to the
appropriate pins on the ESP32 for power supply is the initial step. Subsequently, the TRIG
and ECHO pins of each ultrasonic sensor must be connected to specified GPIO pins on the
ESP32. For instance, the TRIG and ECHO pins of the first ultrasonic sensor could be
connected to GPIO pins 14 and 12, respectively, while those of the second sensor might be
connected to GPIO pins 26 and 27.

Double-checking the connections for accuracy and tightness is a prudent practice to prevent
loose connections during operation. The physical arrangement involves strategically placing
the ultrasonic sensors in a position conducive to accurate distance measurement according to
the project's requirements. Once the connections are validated, powering up the ESP32
microcontroller allows for a quick verification of the connectivity of the ultrasonic sensors.

In addition to the step-by-step guide, incorporating diagrams depicting the

wiring connections and images showcasing the physical setup of the ultrasonic
sensors and their interconnections with the ESP32 greatly aids in visualizing the
setup. These visuals are invaluable for ensuring correct wiring and serve as a

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reference point for further stages of the project. This meticulous hardware setup lays the
foundation for seamless software development and subsequent testing, culminating in an
accurately functioning distance measurement system.

Fig 4.1 OVERVIEW

Download Thonny platform:

https://thonny.org/: link

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 Fig 4.1 Tonny download.

To begin the process of installing Micro Python on an ESP32 microcontroller, the first step is
to acquire Thonny, a user-friendly Python Integrated Development Environment (IDE).
Thonny simplifies the installation and management of Micro Python firmware. After
downloading and installing Thonny from its official website, the ESP32 board is connected to
the computer via a USB cable. Once Thonny is opened, under the "Interpreter" menu,
selecting "Micro Python (ESP32)" prompts Thonny to guide the user through the firmware
installation on the ESP32.

Thonny automatically detects the connected ESP32 board and presents a list of available
boards to choose from. The appropriate ESP32 board is selected from the list, and the user
proceeds to install the Micro Python firmware. Thonny initiates the firmware flashing
process, and upon completion, the Micro Python firmware is successfully installed on the
ESP32. To verify the installation's success, Thonny displays a Read-Eval-Print Loop (REPL)
prompt, enabling the execution of Micro Python commands directly. A simple command,
such as printing a statement, confirms the successful installation. Subsequently, users can
develop and run Micro Python scripts on the ESP32 board using Thonny, opening doors for a
multitude of IoT and embedded projects.

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STEPS FOR UPDATING MICROPYTHON FRAMEWORK IN ESP32

1.Download and Install Thonny:

Download the Thonny IDE from the official website: https://thonny.org/.

Follow the installation instructions for your operating system.

2.Connect ESP32 to Your Computer:

Connect your ESP32 development board to your computer using a USB cable.

3.Open Thonny and Select Interpreter:

Open Thonny IDE on your computer.

In Thonny, go to the "Interpreter" menu and select "Micro Python (ESP32)" from the list of
available interpreters.

4.Install Micro Python Firmware:

Thonny will prompt you to install Micro Python firmware on your ESP32.

Click "Install" to begin the firmware installation process.

5.Select ESP32 Board:

Thonny will automatically detect the ESP32 board you've connected.

Ensure the correct ESP32 board is selected in the "Boards" dropdown.

6.Flash Micro Python Firmware:

Thonny will now proceed to flash the Micro Python firmware onto your ESP32 board.

Wait for the firmware flashing process to complete.

7.Verify Installation:

After the firmware is successfully flashed, Thonny will display a prompt (REPL - Read-Eval-
Print Loop) where you can execute Micro Python commands directly.

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Verify the installation by running a simple command, for example:

python

Copy code

print("Micro Python on ESP32 installed successfully!")

Scripting and Programming:

You can now create, upload, and run Micro Python scripts on your ESP32 using Thonny.

By following these steps, you'll have Micro Python successfully installed on your ESP32
microcontroller using Thonny, enabling you to develop and run MicroPython scripts for
various IoT and embedded projects.

Fig 4.1 model output

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 THONNY CODE

import machine, time

from machine import Pin

__version__ = '0.2.0'

__author__ = 'Roberto S 鐠嬶箯 chez'

__license__ = "Apache License 2.0. https://www.apache.org/licenses/LICENSE-2.0"

class HCSR04:

"""

Driver to use the ultrasonic sensor HC-SR04.

The sensor range is between 2cm and 4m.

The timeouts received listening to echo pin are converted to OSError('Out of range')

"""

# echo_timeout_us is based in chip range limit (400cm)

def __init__(self, trigger pin, echo pin, echo_timeout_us=500*2*30):

"""

trigger_pin: Output pin to send pulses

echo_pin: Readonly pin to measure the distance. The pin should be protected with 1k
resistor

echo_timeout_us: Timeout in microseconds to listen to echo pin.

By default is based in sensor limit range (4m)

"""

self.echo_timeout_us = echo_timeout_us

# Init trigger pin (out)

self.trigger = Pin(trigger_pin, mode=Pin.OUT, pull=None)

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 self.trigger.value(0)

# Init echo pin (in)

self.echo = Pin(echo_pin, mode=Pin.IN, pull=None)

def _send_pulse_and_wait(self):

"""

Send the pulse to trigger and listen on echo pin.

We use the method `machine.time_pulse_us()` to get the microseconds until the echo is
received.

"""

self.trigger.value(0) # Stabilize the sensor

time.sleep_us(5)

self.trigger.value(1)

# Send a 10us pulse.

time.sleep_us(10)

self.trigger.value(0)

try:

pulse_time = machine.time_pulse_us(self.echo, 1, self.echo_timeout_us)

return pulse_time

except OSError as ex:

if ex.args[0] == 110: # 110 = ETIMEDOUT

raise OSError('Out of range')

raise ex

def distance_mm(self):

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 """

Get the distance in milimeters without floating point operations.

"""

pulse_time = self._send_pulse_and_wait()

# To calculate the distance we get the pulse_time and divide it by 2

# (the pulse walk the distance twice) and by 29.1 becasue

# the sound speed on air (343.2 m/s), that It's equivalent to

# 0.34320 mm/us that is 1mm each 2.91us

# pulse_time // 2 // 2.91 -> pulse_time // 5.82 -> pulse_time * 100 // 582

mm = pulse_time * 100 // 582

return mm

def distance_cm(self):

"""

Get the distance in centimeters with floating point operations.

It returns a float

"""

pulse_time = self._send_pulse_and_wait()

# To calculate the distance we get the pulse_time and divide it by 2

# (the pulse walk the distance twice) and by 29.1 becasue

# the sound speed on air (343.2 m/s), that It's equivalent to

# 0.034320 cm/us that is 1cm each 29.1us

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 cms = (pulse_time / 2) / 29.1

return cms

Fig 4.8 OUTPUT IN PROCESSING IDE

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 Applications of Distance Measurement Using
Ultrasonic Sensor with Esp32 and Micro Python

1. Obstacle Detection in Robotics:

- Employing ultrasonic sensors for real-time obstacle detection allows robots to navigate and
manoeuvre in their environment, enhancing their autonomy and safety.

2. Proximity Sensing in IoT Devices:

- Integrating ultrasonic sensors in IoT devices enables proximity sensing, facilitating

applications such as automated lighting, object tracking, and smart home systems.

3. Parking Assistance Systems:

- Implementing the project in automotive applications can aid drivers in parking by providing
accurate distance information, reducing the risk of collisions and enhancing parking
precision.

4. Automated Industrial Processes:

- Utilizing the distance measurement capabilities for object positioning and monitoring in
industrial automation enhances efficiency and optimizes manufacturing processes.

5. Healthcare:

- Integrating ultrasonic sensors in healthcare devices can assist in patient monitoring, fall
detection systems for the elderly, and contactless measurement of vital signs.

6. Agriculture and Agribusiness:

- Implementing the technology for measuring distances in agricultural settings helps optimize
plant positioning, automate irrigation systems, and enhance overall farm management.

7. Traffic Flow Monitoring:

- Utilizing the ESP32 and ultrasonic sensors for monitoring traffic flow and vehicle density in
smart city applications can aid in traffic management and planning.

8. Retail and Customer Service:

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- Incorporating the project in retail settings allows for automated customer traffic monitoring
and queue management, improving the overall shopping experience.=

CONCLUSION

The project focusing on distance measurement using ultrasonic sensors with the
ESP32 microcontroller and MicroPython has been successfully executed, showcasing the
effective integration of hardware and software to achieve accurate distance measurements.
Through this project, we have explored the fundamentals of ultrasonic technology, the
versatility of the ESP32 microcontroller, and the efficiency of MicroPython in embedded
programming.

The integration of ultrasonic sensors with the ESP32, facilitated by MicroPython,

holds immense potential in diverse applications. The successful hardware setup and software
implementation lay the foundation for a wide array of applications, including obstacle
detection in robotics, proximity sensing in IoT devices, parking assistance systems, and more.

The project's applications extend into various industries, contributing to enhanced

automation, improved safety, and increased efficiency. As technology continues to advance,
the integration of sensors like ultrasonic sensors with microcontrollers like the ESP32 will
play a pivotal role in shaping the future of IoT, robotics, healthcare, agriculture, and beyond.

Through this project, we have gained invaluable insights into hardware-software

integration, distance measurement algorithms, and real-world applications of this technology.
The journey has been both educational and fulfilling, and it opens doors for further
exploration and innovation in the realm of distance measurement and sensor technologies.

In conclusion, this project underscores the potential of integrating ultrasonic sensors

with the ESP32 and MicroPython, showcasing the power of interdisciplinary collaboration to
drive advancements in technology and create meaningful solutions for a smarter and more
efficient world.

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 Future Scope
Multi-Sensor Fusion:

Enhance the distance measurement system by integrating multiple sensors such as

infrared sensors or LIDAR to achieve more accurate and robust distance calculations through
sensor fusion.

Real-Time Data Streaming:

Implement mechanisms to stream real-time distance data to cloud platforms, enabling

remote monitoring, data analytics, and decision-making in real-world applications.

Machine Learning Integration:

Explore integrating machine learning algorithms for improved accuracy in distance

measurements, noise reduction, and predictive modelling based on historical distance data.

Energy-Efficiency Optimization:

Research and develop techniques to optimize energy consumption for prolonged

device operation, crucial for applications demanding low power consumption and extended
battery life.

Enhanced Obstacle Avoidance in Robotics:

Further develop the project to create advanced obstacle avoidance algorithms for
robotic platforms, allowing for more dynamic and efficient navigation in complex
environments.

Mobile Applications Integration:

Integrate the system with mobile applications, allowing users to access distance
measurements and control devices remotely through their smartphones.

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 REFERENCES

[1] http://www.atmel.com/atmega328/

[2] http://en.wikipedia.org/wiki/File:16MHZ_Crystal.jpg

https://www.arduino.cc/en/software

Peruri , Sreenivasulu & Tarun, Boya. (2020). Radar detection using ultrasonic sensor.
5. 136-138.

P. Le Maout, S. Chabanis, "MicroPython: a Full Python Compiler for

Microcontrollers," Proceedings of the 2016 ACM International Joint Conference on Pervasive
and Ubiquitous Computing: Adjunct, pp. 355-358, 2016.

Distance Measurement Algorithms:

M. G. Rabbani, M. Hamiruce Marhaban, "Distance Measurement Using Ultrasonic

Sensor for Blind Person," 2014 International Conference on Computer, Communications, and
Control Technology, pp. 175-179, 2014.

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