Multi Sensor-Based Obstacle Avoidance Algorithm in Visual Engineering Environment

Obstacle avoidance is an essential problem for applications involving multiple wheeled mobile robots. This research proposes a simple obstacle avoidance rule utilizing only one type of sensor, i.e., infrared sensor. In this research, multiple infrared sensors are placed on a mobile robot, arranged 45° radially equidistance. By using a low-cost and easily available infrared sensor, the cost and time consumed to build and repair a wheeled mobile robot are considerably reduced. Avoiding rules, based on simple behavior, such as “turn”, “stop”, “follow”, and “ignore” are developed. By applying these rules, each robot can refer to the motion of other robot or stationary object to avoid collision. Simulation results show that the proposed algorithm performs well, at 66.7% chance of avoiding a moving object and at 93% chance of avoiding a stationary object

PSO-based state feedback regulator for stabilizing a two-wheeled wheelchair in balancing mode

In this paper, the state feedback control design problem for stabilizing a two-wheeled wheelchair in balancing mode is considered. The system is modeled as double-inverted pendulum on two wheels. The calculation of state feedback control gains is conventionally handled by LQR method via Riccati equation. Unfortunately, the method still possesses trial and error approach when choosing some parameters, in particular tuning the elements of Q and R weighting matrices. Therefore, an intelligent numerical method to resolve this problem is proposed by adopting PSO algorithm. The simulation work is carried out to evaluate the effectiveness of the proposed method. The result shows that the numerical method reduces tuning time and improves the performance of the system

Integrated modelling and design for realizing a two-wheeled wheelchair for disabled

Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better manoeuvrability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modelling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modelling techniques have been accomplished by researchers utilizing the basic Newton’s Laws of motion and some have used 3D tools to model the system where the models are much theoretical and quite far from the practical implementation. This paper is aimed at closing the gap between the conventional mathematical modelling approaches where the integrated 3D modelling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated and analysed. This have increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established

RANCANG BANGUN PEMBANGKIT SINYAL TIGA KELUARAN DENGAN MODUL SI5351 BERBASIS ARDUINO

Function generator atau pembangkit sinyal merupakan alat yang dapat menghasilkan gelombang baik gelombang sinus, persegi, ataupun gigi gergaji, dengan frekuensi dan amplitudo yang dapat diubah. Pembangkit sinyal yang terdapat di laboratorium umumnya hanya memiliki satu keluaran. Hal ini menyebabkan pelaksanaan praktikum tidak maksimal. Dalam tugas akhir ini dirancang pembangkit sinyal dengan tiga keluaran menggunakan rangkaian modul SI5351 yang dikendalikan oleh mikroprosesor Arduino. Pembangkit sinyal tiga keluaran ini di harapkan dapat membantu praktikum. Menggunakan Arduino Nano, modul SI5351 dapat menghasilkan tiga keluaran dengan mengendalikan moda dan frekuensi pada CLK0, CLK1 dan CLK2. < Prototype yang dirancang kemudian diuji di laboratorium Elektronika Dasar. Keluaran CLK0 digunakan untuk membangkitkan sinyal sinus, CLK1 untuk menghasilkan sinyal persegi, dan CLK2 untuk membangkitkan sinyal gigi gergaji. Keluaran CLK0 memiliki galat rata-rata 329 KHz sampai dengan 7 MHz, keluaran CLK1 memiliki galat rata-rata 359 KHz sampai dengan 7 MHz, dan keluaran CLK2 memiliki galat rata-rata 403 KHz sampai dengan 8 MHz, Hasil ini menunjukkan bahwa pembangkit sinyal yang dirancang mampu menghasilkan keluaran yang diinginkan, dengan rentang galat antara 363 KHz hingga 7 MHz.

Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system

Integrated design, modeling and analysis of a two-wheeled wheelchair for disabled

Automatic adjustment rear view mirror system is designed to constitute for the weak points of the manual adjustment rear view mirror. This system determines the optimal position angle of the rear view mirror based on height of the driver, categorised as short, medium and tall. To achieve this target, the driver’s face coordinates are measured by means of an image processing technique. These coordinates are input to a mirror actuation system which rotates the mirror to the target position. This system is very easy, convenient and safe to use, and it is possible to adjust mirrors safely while driving since all processes are performed automatically

Mechanical design and simulation of wwo-Wheeled wheelchair using solidworks

This article is presented a new design of two-wheeled wheelchair that can balance on two wheels to make it suitable in the narrow areas, especially in the domestic environments; it has the ability to extend the height of the chair to help the user to act independently in the life for example, in the library to pick and put books on the shelves. The 3D model has been built up using SolidWorks Software. Nowadays, SolidWorks environment is considered as a powerful tool that is helping designer to design products and attain its performance before physical prototype stage. SolidWorks simulation model has been employed to test the frame of the wheelchair under the weight of the human body and the upper part of the wheelchair. The static analysis has been done on the frame using steel and aluminium; however the aluminium material has been selected due to its light weigh

Integrated design, modelling and analysis of two-wheeled wheelchair for disabled

Two-wheeled wheelchairs are considered as high nonlinear and complex system. This complex system as well as the need for this system to help disabled people has motivated researchers around the world to do their work in this area. But the recent designs have some limitations. This paper will come with new design to come over these limitations. A new design of two-wheeled wheelchair has been proposed with physical and mathematical models. The system was tested by Linear-quadratic regulator LQR and the result showed that the linear model is working well

Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot

This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system’s center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control