GESTURE CONTROLLED

WHEEL CHAIR

A dissertation submitted in the partial fulfillment of the academic

requirements for the award of degree of

Bachelor of Engineering
In
Electronics and Communication Engineering
By

CH. Bhanu Prakash-1005-20-735-

086 E. Ompriya- 1005-20-735-087
N. Sravani-1005-20-735-094

Under the guidance of

Mr. K. PREM KUMAR
Assistant Professor

Department of Electronics and Communication

Engineering University College of Engineering
(Autonomous)
Osmania University, Hyderabad - 500007
 DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
UNIVERSITY COLLEGE OF ENGINEERING (AUTONOMOUS)
Osmania University, Hyderabad-500007, 2019 – 2023

CERTIFICATE

This is to certify that the Project report on “Gesture Controlled Wheel

Chair” is a bonafide work carried out by CH.BHANU PRAKASH(1005-
20-735086),E.OMPRIYA(1005-20-735087),N.SRAVANI
(1005-20-735094), in the partial fulfilment for the award of Bachelors of
Engineering degree on Department of Electronics and Communication
Engineering, University College Engineering (Autonomous), Osmania
University during the academic year 2023-2024 under the guidance and
supervision of K. Prem Kumar Sir.

Project guide Head of the department

K. Prem Kumar Dr. Rama Krishna,

Asst Prof, Dept of E.C.E, H.O.D, Dept of

E.C.E,
UCEOU-(A), UCEOU-(A),
Osmania University. Osmania University.
 ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of any task

would be incomplete without the introduction of the people who made it
possible and whose constant guidance and encouragement crowns all
efforts with success.

We would like to show our appreciation to Assistant Professor Mr. K.

PREM KUMAR from University College of Engineering, Osmania
University for his passion and dedication towards our project and his
support to us over the terms. Without him, we would not be able to do
such a remarkable project.

We take immense pleasure in thanking PROF. D. RAMA KRISHNA , Head,

Dept. of Electronics and Communication Engineering, University College of
Engineering, Osmania University, Hyderabad providing excellent
computing facilities and the right atmosphere for completing this project.

We are also thankful to PROF.P. CHANDRA SEKHAR, Principal,

University College of Engineering, Osmania University, for his timely
cooperation and providing us all the required facilities to complete the
project successfully.

Finally, we would like to thank all the faculty and supporting staff that have
helped us directly or indirectly in completing the project. We would like to
extend our sincere thanks to all of them.
 DECLARATION

We declare that the work reported in the present thesis titled “Gesture Controlled Wheel Chair” is
a record of work done by us in the Department of Electronics and Communication Engineering,
University College of Engineering, Osmania University. No part of the thesis is copied from
books, journals, documents or the internet and whenever the portion is taken, the same has been
duly referred to in the text; the reports are based on the project work done currently by us, not
copied from any other source.

CH.Bhanu Prakash(100520735086)
E. Ompriya(100520735087)
N. Sravani(1005-20-735-094)
 INDEX

LIST OF CONTENTS

ABSTRACT………………………………………………………………………………..8
CHAPTER 1
1.1 INTRODUCTION…………………………………………………………………........9
1.2 BACKGROUND AND MOTIVATION……………………………………………….10
1.3 PROBLEM STATEMENT……………………………………………………………..11
1.4 AIM AND OBJECTIVE………………………………………………………………..12
1.5 PROJECT SCOPE……………………………………………………………………...12
CHAPTER 2
2.1 LITERATURE SURVEY………………………………………………………………14
CHAPTER 3
3.1METHODOLOGY……………………………………………………………………….16
3.2 WORKING……………………………………………………………………………1 7
3.3 BLOCK DIAGRAM……………………………………………………………………18

CHAPTER 4
HARDWARE REQUIREMENTS
4.1 HARDWARE COMPONENTS………………………………………………………….19
4.2 ARDUINO NANO………………………………………………………………………..20
4.3BLUETOOTH MODULE-HC-05…………………………………………………………12
4.4 METALDETECTOR-A88………………………………………………………………..13
4.5 ROBOT WHEELS 14
4.6 CONNECTING WIRES………………………………………………………………….14
4.7 ESP 8266………………………………………………………………………………….15
4.8GPS MODULE – NEO 7………………………………………………………………….16
4.9DC MOTOR 12v…………………………………………………………………………17
4.10RASPBERRY PI CAMERA NIOR 2……………………………………………………18
4.11 CHARGING MODULE.....................................................................................................................

CHAPTER 5
5.1SOFTWARE IMPLEMENTATION
5.2INTRODUCTION TO ARDUINO IDE.......................................................................................
5.3HARDWARE AND SOFTWARE COMPONENTS ANALYSIS..............................................
5.4 RASPBERRY PI BOARD INITIALIZATION...........................................................................
5.5 CONFIGURING RASPBERRY PI BOARD FOR WIFI CONNECTION
………………………………………………………………………….27

CHAPTER 6
RESULTS……………………………………………………………………………28

CHAPTER 7
CONCLUSION……………………………………………………………………….29

CHAPTER 8
FUTURE SCOPE……………………………………………………………………….31

CHAPTER 9
REFERENCES………………………………………………………………………32
 LIST OF FIGURES

TITLE OF THE FIGURE PGNO

Figure 3.1-Interfacing of Arduino with Bluetooth module and motor driver-----------7

Figure 4.1-Arduino UNO……………………………………………………………..11
Figure 4.2-Bluetooth Module HC…………………………………………………….12

Figure 4.3-A88 Metal DETECTOR………………………………………………………13

Figure 4.4-Robot wheels 14

Figure 4.5-Connecting Wires 15
Figure 4.6 -ESP 8266 16
Figure 4.7-GPS NEO-7 17
Figure 4.8- DC MOTOR.................................................................................................18
Figure 4.9-pi camera Noir 2….......................................................................................19
Figure 4.10-Raspberry Pi...............................................................................................20
Figure 4.11-GSM 900A..................................................................................................21
Figure 4.12-Chassis........................................................................................................22
Figure 4.13-L293 motor driver.......................................................................................23
Figure 4.15-18650 Li-ion 2500mAh Rechargeable Battery...................................................... 24
Figure 4.16-1A Li-Ion Battery Charging Board 25

Figure 5.1 Raspberry pi OS................................................................................................26

Figure 5.2 Raspberry pi OS Update...................................................................................26

Figure 5.1 WIFI Configuration...........................................................................................27
Figure 6.1 Hardware Connections….............................................................................................28
Figure 6.2 Final Robot 28

Figure 6.3 Output of GPS..............................................................................................................28

Figure 6.4 Output of Pi cam.........................................................................................................29
Figure 6.5 Alert Message Using GSM.........................................................................................29
 ABSTRACT

It is admirable that the ever-growing technology can bring about new changes in the
healthcare sector. The persons with disabilities are always facing barriers in accessing the
basic services , these barriers can be effectively addressed through advanced technologies like
IoT. By taking these possibilities of technology, a wheelchair is developed that will be
beneficial to mankind. Here an accelerometer sensor is used, which gives the analog signal
according to the tilt of the accelerometer in x (x positive axis, x negative axis) and y (y
positive axis, y negative axis) di-
-rection and RF module is used to transmit the signal from the transmitter section to receiver
section then the movement of the wheel is controlled. Arduino UNO is used as a microcontr-
oller. Wheelchairs are essential for the elderly and disabled to move from one place to another.
But it requires the help of others to control it, and this is where hand gesture-controlled wheel-
-chairs come in handy where it can aid the disabled and control the direction by using simple
gesture movements. GSM module is also used for sending message to patient care taker where
thereis a collision detection.

Keywords : Hand Gesture , Gyroscope, Arduino UNO , GSM Module , UltraSonic Sensor ,
Motor Driver

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 CHAPTER 1

1.1 INTRODUCTION

In an era of advancing technology, the field of assistive technology continues to evolve,

striving to enhance the lives of individuals with disabilities by providing innovative solutions
to everyday challenges. Among these innovations, the development of gesture-controlled
wheelchairs represents a significant leap forward in improving mobility, independence, and
quality of life for users. This project endeavors to contribute to
this ongoing evolution by introducing a gesture-controlled wheelchair with collision detection
and GSM communication capabilities.

The primary objective of this project is to address the limitations of traditional wheelchair
controls by implementing an intuitive gesture recognition system that allows users to navigate
their environment with simple hand gestures. Additionally, the integration of collision
detection sensors enhances user safety by detecting obstacles in the wheelchair's path and
autonomously avoiding collisions. Furthermore, the inclusion of a GSM module enables
remote communication, allowing users to alerts and notifications to caregivers or emergency
services in case of emergencies.
Technology is always getting better, especially when it comes to helping people with
disabilities. One big improvement is making wheelchairs that you can control just by moving
your hands. That's what this project is all about! We're working on a wheelchair that you can
control with hand movements, and it's smart enough to avoid bumping into things on its own.
Plus, it can even send messages for help if something goes wrong.

Our main goal with this project is to make it easier for people who use wheelchairs to get
around. Instead of using complicated controls, they can just move their hands to steer. And
with sensors to help avoid obstacles, it's safer too. We're also adding a special feature so the
wheelchair can send messages if there's an emergency.

We've been working really hard to make sure this wheelchair is easy to use and safe. In this
report, we'll explain how we did it, step by step. We'll talk about how we made the wheelchair,
how we tested it, and what we learned. We're excited about the possibilities of this project and
how it could help people with disabilities live more independently and confidently.

9
alerts and notifications to caregivers or emergency services in case of emergencies.
Technology is always getting better, especially when it comes to helping people with
disabilities. One big improvement is making wheelchairs that you can control just by moving
your hands. That's what this project is all about! We're working on a wheelchair that you can
control with hand movements, and it's smart enough to avoid bumping into things on its own.
Plus, it can even send messages for help if something goes wrong.

Our main goal with this project is to make it easier for people who use wheelchairs to get
around. Instead of using complicated controls, they can just move their hands to steer. And
with sensors to help avoid obstacles, it's safer too. We're also adding a special feature so the
wheelchair can send messages if there's an emergency.

We've been working really hard to make sure this wheelchair is easy to use and safe. In this
report, we'll explain how we did it, step by step. We'll talk about how we made the wheelchair,
how we tested it, and what we learned. We're excited about the possibilities of this project and
how it could help people with disabilities live more independently and confidently.

1.2 BACKGROUND AND MOTIVATION

The inspiration for developing a Gesture-Controlled Wheelchair with Collision Detection using
a GSM module stems from the growing need to enhance the mobility and safety of individuals
with physical disabilities. Traditional wheelchair controls, such as joysticks, can be challenging
for users with limited dexterity or mobility. Additionally, navigating crowded or unfamiliar
environments poses risks of collisions and accidents. Recognizing these challenges, there has
been a surge in research and development efforts aimed at creating more intuitive and
advanced assistive technologies. By incorporating gesture c- ontrol technology, which
interprets hand movements into wheelchair commands, users can navigate with greater ease
and precision, thereby increasing their independence and quality of life. Furthermore, the
integration of collision detection capabilities adds an extra layer of safety, alerting users to
potential haz- ards in their path. The inclusion of a GSM module enables remote monitoring
and intervention, ensuring timely assistance in emergency situations. Overall, the project
endeavors to address existing mobility limitations and safety concerns faced by individuals
with disabilities, with the ultimate goal of promoting their autonomy and well-being.

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1.3 PROBLEM STATEMENT

Despite advancements in assistive technologies, individuals with mobility impairments still face
significant challenges in navigating their surroundings safely and independently. Traditional
wheelchair control mechanisms, such as joysticks, can be cumbersome and unintuitive for users
with limited dexterity or cognitive abilities. Moreover, the lack of effective collision detection
systems increases the risk of accidents and injuries, particularly in crowded or unfamiliar
environments. Current assistive devices often rely on manual intervention or supervision from
caregivers, limiting the autonomy and freedom of wheelchair users. Therefore, there is a
pressing need for a comprehensive solution that integrates intuitive control interfaces, robust
collision detection capabilities, and real-time communication functionalities to empower
individuals with mobility impairments to navigate their surroundings with confidence and
independence. This project aims to address these challenges by developing a Gesture-
Controlled Wheelchair with Collision Detection using a GSM module, providing a holistic
solution that enhances the mobility, safety, and quality of life for users with disabilities.

This project is to develop a wheel chair control which is useful to the physically disabled person
with his/her hand movement or his hand gesture reorganization. With the help of the wheel
chair physically disabled person would able to move himself to the desired location with the
help of hand gestures which controls the movement of the chair. This project aims to provide a
feasible solution to those handicapped people who do not have the ability to operate the
wheelchair by themselves. These include people with serious paralytic condition. Wheelchair
automated control systems proved to be versatile tools for many problems in human-computer
interface systems. Basically, they are used for providing better usability of a computer or a
system for people, including disabled people. The percentage of disabled people has increased
in both rural and urban part of India. The disability could be by birth or due to some medical or
accidental reason. Today in India many people are suffering from disability, there are people
whose lower half of the body is paralyzed. This Wheelchair will add on to the comfort and
make the life of people bit easierer.

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1.4 AIM AND OBJECTIVES

The aim of this project is to design and implement a gesture-controlled wheelchair with
collision detection capabilities, integrated with a GSM module for remote communication, to
address the mobility and safety needs of individuals with limited mobility, thereby enhancing their
independence and quality of life.

In this project, we aim to develop a cutting-edge assistive technology solution that enhances the
mobility and safety of individuals with limited mobility. One of the main focuses is the
development of a gesture system. This involves designing and implementing robust algorithms
capable of accurately interpreting predefined hand gestures. Additionally, we'll integrate sensors or
devices capable of capturing and processing gesture inputs effectively. Our goal is to ensure
seamless communication and integration between the gesture recognition system and the wheelchair
control mechanism. Another important aspect of the project the implementation of a collision
detection mechanism. This will involve selecting and integrating Appropriate sensors or
technologies for detecting obstacles and potential hazards in the wheelchair's path. We'll develop
algorithms to analyze sensor data in real-time and identify collision risks. Furthermore, we'll
implement responsive mechanisms for the wheelchair to autonomously avoid collisions or navigate
around obstacles safely. Additionally, we'll integrate a GSM module for remote communication.
This will entail configuring and integrating the GSM module to enable wireless communication
capabilities. We'll develop protocols for transmitting real-time alerts, notifications, status updates to
caregivers or emergency services. Our aim is ensure robust and reliable communication between the
wheelchair and external devices, even in remote or challenging environments. By achieving these
objectives, our project aims to deliver an advanced assistive technology solution that not only
addresses the immediate mobility and safety needs of individuals with limited mobility but also
fosters greater inclusivity, independence, and empowerment within society.

1.5 PROJECT SCOPE

The project aims to design, develop, and implement a gesture-controlled wheelchair with collision
detection and GSM communication capabilities. This wheelchair will be designed to improve

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mobility and independence for individuals with limited mobility. Key components of the
system will include an Arduino microcontroller, gesture recognition sensors, collision detection
sensors, a motor driver, and a GSM module. The gesture recognition system will interpret hand
movements to control the wheelchair's movement, while collision detection sensors will identify
obstacles in the wheelchair's path to prevent accidents. The GSM module will enable the wheelchair
to communicate with caregivers or emergency services in case of emergencies.

Testing procedures will include validation of gesture recognition accuracy, collision detection
effectiveness, and GSM communication reliability. User testing will be conducted to gather
feedback on usability, comfort, and overall user experience. Based on testing results and user
feedback, iterative improvements will be made to the system to enhance performance and usability.

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 CHAPTER 2

2.1 LITERATURE SURVEY

When an unfortunate event like leg problems affect the person, it is necessary to use devices
like wheelchairs that offer a means of displacement for patients with problems. Tremendous
modification has been made in the field of wheelchair technology. However, significant
advances haven’t been able to help quadriplegics navigate wheelchair unassisted. Some
patients those who cannot operate the wheelchair with their arms due to a lack of force or
psychomotor problems in the superior members, request electric wheelchairs, frequently
manipulated with joysticks or gesture controlled wheelchairs. However, the joystick
manipulation is even not practical and frequently it must be handled with the mouth. Hence
wheelchair controlled by an intuitive interface, that is gesture controlled wheelchair where the
instructions are given by hand gestures has been developed. This project is inspired from an
IEEE Research Paper Titled “Hand Gesture Controlled Wheel Chair‟ that was presented in the
IEEE International Conference on Power, Energy, Control and Transmission Systems
(ICPECTS), Chennai,India, 2022.

Chowdhury, SM Mazharul Hoque. (2019) Diss. JAHANGIRNAGAR UNIVERSITY.

Smart wheelchair for disable people. In this Prior art they have constructed Smart wheelchair
for disable people in which the wheel chair will be controlled using certain commands. Claims
which they have made are if user faces any critical situation an emergency message will deliver
to them.Shruti Warad, Vijayalakshmi Hiremath, Preeti Dhandargi , Vishwanath Bharath,
P.B.Bhagavati (2015)Speech and flex sensor controlled wheelchair for physically disa- bled
people. Paper describes an intelligent motorized wheelchair for physically handicap person
using depend- ent user speech controlled and flexes sensor technology. In this project, to drive
the wheelchair they are using speech commands “forward, backward, maximum, medium,
minimum and stop”. Direction of the wheelchair is controlled by flex sensor application. The
wireless link between glove & wheel chair enables any person to operate . Shayban Nasif &
Muhammad Abdul Goffar Khan (2017) (EEE department Rajshahi University) “Wireless Head
Gesture Controlled Wheelchair for Disable Persons”. In this project they have developed hand

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-free wheelchair for physically disabled persons. It works based on the Head Gesture
Recognition Technique using Acceleration sensor.Acceleration sensor is used for the gesture
recognition RF module is used for the smart wireless controlling.

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 CHAPTER 3

3.1 METHODOLOGY

A wheelchair has to be created to control the direction using hand gesture movements. The
objective of this project is to develop a smart wheel chair which sense the Gestures of the hand
to run the wheelchair. Here two sections are included, one for the transmitter block and other for
the receiving block. Both sections need to be designed and implemented separately. Gyroscope
is used as the sensor to detect the tilting of the hand, which in turn transmit the signals though
the RF modules.

Fig.3. 1.Transmitter Section

The Fig.1 demonstrate the work flow of transmitter module, where the movement of hand
(Wrist) is sensed using gyroscope which is the sensor in form of analog signal and send it to the
microcontroller of the Arduino. Then the data collected is transmitted in form of Radio
frequency signal via, the RF Transmitter module.

Fig.3. 2.Receiver Section

The Fig.2 demonstrate the work flow of receiver module, which shows how t direction of the
wheelchair is controlled.The data transmitted from the transmitter section is received by t RF
receiver module and send to microcontroller of Arduino in receiver section which gives the
desired output by controlling the motor driver(L298).

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3.2 Working

Fig 3.3 Transmeter

Fig.3 illustrate the circuit development of transmitter section consist of Arduino board,
accelerometer, RF transmitter module, a 9v battery. Accelerometer consist of GND, VCC and x, y, z
out pins which is connected to t 5V, GND and A3, A2, A1 pins of the Arduino respectively. Which
detect the tilt along the x, y, z axis. RF transmitter module consist of 4 pins such as ANT, VCC,
GND, and DAT. DAT (Data) pin is connected the digital pin 12 of the Arduino, GND and VCC to
the respective pins of Arduino.

fig 3.4 receiver section

Fig.4 illustrate the circuit development of receiver section which consist of an Arduino, RF
receiver module, L293D motor module and 9v battery. RF receiver module contain 8 pins. Where
DAT pin is connected to the digital pin 11 of Arduino, VCC and GND to the respective pins of the
Arduino. For powering the Arduino, a 9v battery is connected to the VIN and GND of the
Arduino. The L293D is provided with separate power for the working of the motor.

Transmitter section:

Based on the hand gesture movement the gyroscope or accelerometer corresponds an analog
signal , the information regarding hand tilt is of analog form is sent to the arduino nano analog

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 pins . Here the data is converted to digital form and is sent to the HC12 RF transmitter
module,

the signal then received by receiver section.

Reciever section:

The hc12 rf module reciever will recieve the transmitted signal and is sent to the main arduino
for process- ing the hand tilt data from transmitter section is passed to the arduino and
corresponding signals makes the motor driver to move motors in corresponding directions.
Whereas the GSM module and Ultra sonic sensor on other hand will detect the collision and
send collision detection alert message to the patient care taker.

3.4 BLOCK DIAGRAM

BLOCK DIAGRAM

UltraSonic
Sensor

HC12 RF
Module L298 Motor
Driver
Arduino
Uno Board
Gsm
Module Dc Motor

Adapter
Supply

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 RF
Trans
mitter
Modu

Gyroscope /
Accelerometer

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 CHAPTER 4

4.1 HARDWARE REQUIREMENTS

The following list of hardware components are used in this project are

4.2 ARDUINO NANO

FIG 4.1
ARDUINO NANO

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Memory :-
The ATmega168 has 16 KB of flash memory for storing code (of which 2 KB is used for the
bootload er); the ATmega328 has 32 KB, (also with 2 KB used for the bootloader). The
ATmega168 has 1 KB of SRAM and 512 bytes of EEPROM (which can be read and written
with the EEPROM library); the ATmega328 has 2 KB of SRAM and 1 KB of EEPROM.

Input and Output Pins

Each of the 14 digital pins on the Nano 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 a maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of
20-50 kOhms.
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 FTDI USB-to TTL Serial chip. External Interrupts: 2 and 3. These pins can be configured
to trigger an interrupt on a lowvalue, a rising or falling edge, or a change in value. See the
attachInterrupt() function for details PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output
with the analogWrite() function. SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins
support SPI communication, which, although provided by the underlying hardware, is not

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currently included in the Arduino language. LED: 13. There is a built-in LED connected to
digital pin 13. When the pin is HIGH value, the LED is on, when the pin is LOW, it's off.

The Nano has 8 analog inputs, 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 analogReference() function. Additionally, some pins have
specialized functionality: I 2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication
using the Wire library (documentation on the Wiring website). There are a couple of other pins
on the board: AREF. Reference voltage for the analog inputs. Used with analogReference().
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. See also the mapping between Arduino pins and
ATmega168 ports.

Communication The Arduino Nano has a number of facilities for communicating with a
computer, another Arduino, or other microcontrollers. The ATmega168 and ATmega328
provide UART TTL (5V) serial communication, which is available on digital pins 0 (RX) and
1 (TX). An FTDI FT232RL on the board channels this serial communication over USB and the
FTDI drivers (included with the Arduino software) provide a virtual com port to software on
the computer. The Arduino software includes a serial monitor which allows simple textual data
to be sent to and from the Arduino board. The RX and TX LEDs on the board will flash when
data is being transmitted via the FTDI chip and USB connection to the computer (but not for
serial communication on pins 0 and 1).
A SoftwareSerial library allows for serial communication on any of the Nano's digital pins. The
ATmega168 and ATmega328 also support I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus; see the documentation for
details. To use the SPI communication, please see the ATmega168 or ATmega328 datasheet.
Programm ing The Arduino Nano can be programmed with the Arduino software (download).
Select "Arduino Diecimila, Duemilanove, or Nano w/ ATmega168" or "Arduino Duemilanove
or Nano w/ ATmega328" from the Tools > Board menu (according to the microcontroller on
your board). For details, see the reference and tutorials. The ATmega168 or ATmega328 on the
Arduino Nano comes preburned with a bootloader that allows you to upload new code to it
without the use of an external hardware programmer.

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 It communicates using the original STK500 protocol (reference, C header files). You can also
bypass the bootloader and program the microcontroller through the ICSP (In-Circuit Serial
Programming) header; see these instructions for details. Automat ic (Software) Reset Rather
then requiring a physical press of the reset button before an upload, the Arduino Nano 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 FT232RL is connected to the reset line of the
ATmega168 or 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 uses this
capability to allow you to upload code by simply pressing the upload button in the Arduino
environment. This means that the bootloader can have a shorter timeout, as the lowering of
DTR can be well-coordinated with the start of the upload. This setup has other implications.
When the Nano is connected to either a computer running Mac OS X or Linux, it resets each
time a connection is made to it from software (via USB). For the following half- second or so,
the bootloader is running on the Nano. While it is programmed to ignore malformed data (i.e.
anything besides an upload of new code), it will intercept the first few bytes of data sent to the
board after a connection is opened. If a sketch running on the board receives one-time
configuration or other data when it first starts, make sure that the software with which it
communicates waits a second after opening the connection and before sending this data.

4.2 HC 12 RF Module:

HC-12 wireless serial port communication module is a new-generation multichannel embedded

wireless data transmission module. Its wireless working frequency band is 433.4-473.0MHz,
multiple channels can be set, with the stepping of 400 KHz, and there are totally 100 channels.
The maximum transmitting power of module is 100mW (20dBm), the receiving sensitivity is -
117dBm at baud rate of 5,000bps in the air, and the communication distance is 1,000m in open
space.

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 FIG 4.2 HC 12 RF MODULE

The module is encapsulated with stamp hole, can adopt patch welding, and its dimension is
27.8mm×14.4mm×4mm (including antenna cap, excluding spring antenna), so it is very
convenient for customers to go into application system. There is a PCB antenna pedestal
ANT1 on the module, and user can use external antenna of 433M frequency band through
coaxial cable; there is also an antenna solder eye ANT2 in the module, and it is convenient for
user to weld spring antenna. User could select one of these antennas according to use
requirements.

There is MCU inside the module, and user don’t need to program the module separately, and
all transparent transmission mode is only responsible for receiving and sending serial port
data, so it is convenient to use. The module adopts multiple serial port transparent
transmission modes, and user could select them by AT command according to use
requirements. The average working current of three modes FU1, FU2 and FU3 in idle state is
80μa, 3.6mA an 16mA respectively, and the maximum working current is 100mA (in
transmitting state).

Features
 Long-distance wireless transmission (1,000m in open space/baud rate 5,000bps in the air)
 Working frequency range (433.4-473.0MHz, up to 100 communication channels)
 Maximum 100mW (20dBm) transmitting power (8 gears of power can be set)
 Three working modes, adapting to different application situations
 Built-in MCU, performing communication with external device through serial port
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 The number of bytes transmitted unlimited to one time.

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 Specification

 Working frequency: 433.4MHz to 473.0MHz

 Supply voltage: 3.2V to 5.5VDC
 Communication distance: 1,000m in the open space
 Serial baud rate: 1.2Kbps to 115.2Kbps（default 9.6Kbps）
 Receiving sensitivity: -117dBm to -100dBm
 Transmit power: -1dBm to 20dBm
 Interface protocol: UART/TTL
 Operating temperature: -40℃ to +85℃
 Dimensions: 27.8mm x 14.4mm x 4mm

4.3 GYRO MPU6050 Sensors

A gyroscope is a device used primarily for navigation and measurement of angular velocity .
Gyroscopes are available that can measure rotational velocity in 1, 2, or 3 directions. 3-axis
gyroscopes are often implemented with a 3-axis accelerometer to provide a full 6 degree-of-
freedom (DoF) motion tracking system.
Gyroscopes have evolved from mechanical-inertial spinning devices consisting of rotors, axles,
and gimbals to various incarnations of electronic and optical devices. Each exploits some
physical property of the system allowing it to detect rotational velocity about some axis. There
are three basic types of gyroscope:

 Rotary (classical) gyroscopes

 Vibrating Structure Gyroscope

 Optical Gyroscopes

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 Fig 4.3 gyro MPU6050 SENSORE

This rotation about the output axis is then sensed and fed back to the input axis where a motor
or similar device applies torque in the opposite direction, cancelling the precession of the
gyroscope and maintaining its orientation. This cancellation can also be accomplished with two
gyroscopes oriented at right angles to one another.

To measure rotation rate, counteracting torque is pulsed at regular time intervals. Each pulse
represents a fixed angular rotation δθ, and the pulse count in a fixed time interval t will be
proportional to the net angle change θ over that time period – thus, the applied counteracting
torque is proportional to the rotation rate to be measured.

A gyroscope sensor has the following basic specifications:

 Measurement range

 Number of sensing axes

 Nonlinearity

 Working temperature range

 Shock survivability

 Bandwidth

 Angular Random Walk (ARW)

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  Bias

 Bias Drift

 Bias Instability
 Measurement range – This parameter specifies the maximum angular speed with which the
sensor can measure, and is typically in degrees per second (˚/sec).
 Number of sensing axes – Gyroscopes are available that measure angular rotation in one, two, or
three axes. Multi-axis sensing gyros have multiple single-axis gyros oriented orthogonal to one
another. Vibrating structure gyroscopes are usually single-axis (yaw) gyros or dual-axis gyros,
and rotary and optical gyroscope systems typically measure rotation in three axes.
 Nonlinearity – Gyroscopes output a voltage proportional to the sensed angular rate. Nonlinearity
is a measure of how close to linear the outputted voltage is proportional to the actual angular rate.
Not considering the nonlinearity of a gyro can result in some error in measurement. Nonlinearity
is measured as a percentage error from a linear fit over the full-scale range, or an error in parts
per million (ppm).
 Working temperature range – Most electronics only work in some range of temperatures.
Operating temperatures for gyroscopes are quite large; their operating temperatures range from
roughly -40˚C to anywhere between 70 and 200˚C and tend to be quite linear with temperature.
Many gyroscopes are available with an onboard temperature sensor, so one does not need to
worry about temperature related calibrations issues.
 Shock Survivability – In systems where both linear acceleration and angular rotation rate are
measured, it is important to know how much force the gyroscope can withstand before failing.
Fortunately gyroscopes are very robust, and can withstand a very large shock (over a very short
duration) without breaking. This is typically measured in g’s (1g = earth’s acceleration due to
gravity), and occasionally the time with which the maximum g- force can be applied before the
unit fails is also given.
Bandwidth – The bandwidth of a gyroscope typically measures how many measurements
can be made per second. Thus the gyroscope bandwidth is usually quoted in Hz.
Angular Random Walk (ARW) - This is a measure of gyro noise and has units of deg/hour 1/2or
deg/sec1/2. It can be thought of as the variation (or standard deviation), due to noise, of the result
of integrating the output of a stationary gyro over time

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 So, for example, consider a gyro with an ARW of 1°/sec 1/2 being integrated many times to
derive an angular position measurement: For a stationary gyro, the ideal result - and also the
average result - will be zero. But the longer the integration time, the greater will be the spread
of the results away from the ideal zero. Being proportional to the square root of the integration
time, this spread would be 1° after 1 second and 10° after 100 seconds.
Bias - The bias, or bias error, of a rate gyro is the signal output from the gyro when it is NOT
experiencing any rotation. Even the most perfect gyros in the world have error sources and
bias is one of these errors. Bias can be expressed as a voltage or a percentage of full scale
output, but essentially it represents a rotational velocity (in degrees per second). Again, in a
perfect world, one could make allowance for a fixed bias error. Unfortunately bias error tends
to vary, both with temperature and over time. The bias error of a gyro is due to a number of
components:

 calibration errors

 switch-on to switch-on

 bias drift

 effects of shock (g level)

Individual measurements of bias are also affected by noise, which is why a meaningful
bias measurement is always an averaged series of measurements.

Bias Drift - This refers specifically to the variation of the bias over time, assuming all other
factors remain constant. Basically this is a warm-up effect, caused by the self heating of the
gyro and its associated mechanical and electrical components. This effect would be expected
to be more prevalent over the first few seconds after switch-on and to be almost non-existent
after (say) five minutes.

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4.4 Ultra Sonic Sensor:

FIG 4.4 ultra sonic sensor

An ultrasonic sensor is an electronic device that measures the distance of a target object by
emitting ultrasonic sound waves, and converts the reflected sound into an electrical signal.
Ultrasonic waves travel faster than the speed of audible sound (i.e. the sound that humans can
hear). Ultrasonic sensors have two main components: the transmitter (which emits the sound
using piezoelectric crystals) and the receiver (which encounters the sound after it has travelled
to and from the target).

In order to calculate the distance between the sensor and the object, the sensor measures the
time it takes between the emission of the sound by the transmitter to its contact with the
receiver. The formula for this calculation is D =
½ T x C (where D is the distance, T is the time, and C is the speed of sound ~ 343
meters/second).

An ultrasonic sensor is a device that uses sound waves with frequencies higher than the human
audible range to detect objects and measure distances. It consists of a transmitter and a receiver.
The transmitter emits ultrasonic waves, which then bounce off objects in their path and return to
the receiver. By measuring the time it takes for the waves to travel to the object and back, the
sensor can calculate the distance to the object.
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Ultrasonic sensors are commonly used in various applications such as proximity sensing,
object detection, and distance measurement. They are particularly useful in robotics,
automation, and security systems. One of the key advantages of ultrasonic sensors is their
ability to work in various environmental conditions, including darkness, dust, and fog.

These sensors are non-contact, meaning they do not require physical contact with the object
being detected. This makes them suitable for applications where contact-based sensors may
not be feasible or reliable. Additionally, ultrasonic sensors offer high accuracy and precision in
distance measurement, making them suitable for tasks that require precise object detection and
localization.

The principle of operation of ultrasonic sensors is based on the time-of-flight (TOF) method.
This method calculates the distance to an object by measuring the time it takes for the
ultrasonic waves to travel to the object and back. The speed of sound in air is relatively
constant, allowing for accurate distance calculations.

ultrasonic sensors are versatile devices that play a crucial role in various industries and
applications. Their ability to detect objects and measure distances accurately and reliably
makes them indispensable tools in modern technology.

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 4.5 WHEELS:

A wheel is a circular component that is intended to rotate on an axial bearing. The wheel is one
of the main components of the wheel and axle which is one of the six simple machines. Wheels,
in conjunction with axles, allow heavy objects to be moved easily facilitating movement or
transportation while supporting a load, or performing labor in machines. A tire is a ring-shaped
covering that fits around a wheel's rim to protect it and enable better vehicle performance The
materials of modern pneumatic tires are synthetic rubber, natural rubber, fabric and wire, along
with carbon black and other chemical compounds. They consist of a tread and a body. The tread
provides traction while the body provides containment for a quantity of compressed air.

Specifications-
 Width of the tire- 20mm
 Diameter of the tire- 100mm
 Diameter of the shaft hole- 6mm
Fig 4.5 wheels

4.6 CONNECTING WIRES:

Connecting wires are an essential component as they are used to connect various electronic
components together and transmit electrical signals between them. Connecting wires are typically
used toconnect the various circuits and the timing circuitry. It is important to use high-quality
wires with lowresistance and low capacitance to ensure that the signals are transmitted accurately
and without distortion.Shielded cables can help to reduce electromagnetic interference and
improve signal quality.

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 Figure 4.6-Connecting Wires

4.7 DC MOTORS 12v:

A 12V DC motor is a type of electric motor that operates on a DC (direct current) power source of
12volts. These motors are commonly used in a variety of applications, including robotics,
automation,
and automotive systems.12V DC motors come in a range of sizes and power ratings, from
small motors used in hobby projects to larger motors used in industrial applications.

These motors are typically designed to be powered by a DC power supply, such as a battery or a
power supply unit, and can be controlled using electronic devices such as motor driver shields or
motor controllers.12V DC motors are generally reliable and durable, making them a popular
choice for many applications. Some common features of 12V DC motors include high torque, low
noise, and efficient operation, making them suitable for a wide range of applications where
precise and reliable motor control is required.

A DC motor is a mechanically commutated electric motor powered from direct current (DC). The
stator is stationary in space by definition and therefore so is its current. The current in the rotor is
switched by the commutator to also be stationary in space. This is how the relative angle between
the stator and rotor magnetic flux is maintained near 90 degrees, which generates the maximum
torque. DC motors have a rotating armature winding but non-rotating armature magnetic field and
a static field winding or permanent magnet. Different connections of the field and armature
winding provide different inherent speed/torque regulation characteristics.

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 The speed of a DC motor can be controlled by changing the voltage applied to the armature or by
changing the field current. The introduction of variable resistance in the armature circuit or field
circuit allowed speed control. Modern DC motors are often controlled by power electronics
systems called DC drives. The introductionof DC motors to run machinery eliminated the need for
local steam or internal combustion engines, and line shaft drive systems. DC motors can operate
directly from rechargeable batteries, providing the motive power forthe first electric vehicles.
Today DC motors are still found in applications as small as toys and disk drives, or in large sizes
to operate steel rolling mills and paper machines.

Figure 4.7- DC MOTOR

4.8 GSM SIM900A:

The module is the best application to design a graphic for Voice call and SMS application. Some
IOT applications, mostly in an emergency have the module. The location trancing system also uses
SIM900A.SIM900A can use for mobile communication.

The GSM SIM900A is a type of GSM/GPRS module that allows for wireless
communication over a cellular network. It supports the 900mhz frequency band and is commonly
used in applications such as remote monitoring, telemetry, and machine-to-machine (M2M)
communication.

The module features an onboard SIM card slot, making it easy to swap out SIM cards when
necessary. It also includes various interfaces, such as UART, SPI, and I2C, for communication
withexternal devices such as microcontrollers.
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 SIM900A GSM Module is the smallest and cheapest module for GPRS/GSM communication.
It also has modes, command mode and data mode. There are a total of 68 pins on SIM900A and
usingthese pins helps to build the applications. But we will need few pins if you we use a module
for interfacing with Arduino.

Specifications:

Power Input : 3.4V to 4.5V

Operating Frequency : EGSM900 and DCS1800

Transmitting Power Range : 2V for EGSM900 and 1W for DCS1800 Data Transfer Link :
Download: 85.6kbps, Upload:42.8kbps
Serial Port: I2C and UART

Antenna Support. Audio Input/output, Serial Debug Port

In these days, the GSM mobile terminal has become one of the items that are constantly with
us. Just like our wallet/purse, keys or watch, the GSM mobile terminal provides us a
communication channel that enables us to communicate with the world. The requirement for a
person to be reachable or to call anyone at any time is very appealing.

In this project, as the name says project is based on GSM network technology for transmission
of SMS from sender to receiver. SMS sending and receiving is used for ubiquitous access of
appliances and allowing breach control at home. The system proposes two sub-systems.
Appliance control subsystem enables the user to control home appliances remotely and the
security alert subsystem gives the automatic security monitoring.

The system is capable enough to instruct user via SMS from a specific cell number to change
the condition of the home appliance according to the user’s needs and requirements. The
second aspect is that of security alert which is achieved in a way that on the detection of
intrusion, the system allows automatic generation of SMS thus alerting the user against
security risk.

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Figure 4.8-GSM 900A

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 4.9 MOTOR DRIVER L298:

• The L298 is a popular motor driver IC that is commonly used in motor driver shields.

• It is a dual H-bridge IC, which means that it can control two DC motors or a single stepper
motor.
• The L298 can drive motors with voltages up to 36V and currents up to 600ma, making it
suitable for a wide range of motor control applications.
• Motor driver shields based on the L298 typically include additional features, such as
input/output pins for sensors and other peripherals, as well as protection circuitry to prevent
damage to the motors or the shield itself.
• The L298 can be controlled using simple logic-level signals, making it easy to interface with a
wide range of microcontrollers and other control systems.
• Some motor driver shields based on the L298 also include additional features, such as current
sensing and over-temperature protection, to ensure reliable and safe operation.

Specifications:

4.8.1 Voltage Range: 7V to 35V

4.8.2 Peak Current: 2A
4.8.3 Continuous Current: 1.5A
4.8.4 Logic Supply Voltage: 5V
4.8.5 Maximum Output Current: 4A
4.8.6 Maximum Output Voltage: 46V
4.8.7 Quiescent Current: 20mA
4.8.8 Operating Temperature Range: -25°C to +130°C
4.8.9 Thermal Shutdown Protection: Yes
4.8.10 Enable Input Voltage Range: 2.3V to Vcc
4.8.11 PWM Frequency: Up to 100 kHz
4.8.12 Package Type: Multiwatt15

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 Figure 4.9-L298 motor driver

The L298 motor driver is a popular dual H-bridge driver integrated circuit (IC) commonly used
for controlling DC motors and stepper motors. It is widely used in robotics and other motor
control applications due to its versatility and ease use.of the L298 IC can control two DC
motors or one stepper motor with up to 2A per channel continuous current capability. It
operates over a wide range of supply voltages, typically from 4.5V to 46V, making it suitable
for various applications.

This motor driver features built-in protection diodes for the outputs, allowing for easy
interfacing with inductive loads such as motors. It also includes thermal shutdown and current
limiting functions to protect the IC from overheating and damage.The L298 can be controlled
using simple logic signals from microcontrollers or other control circuits. It has separate input
pins for controlling the direction (forward or reverse) and speed of each motor, providing
precise motor control.

One of the key advantages of the L298 motor driver is its robustness and reliability, making it
suitable for demanding applications in harsh environments. Its compact size and low cost also
contribute to its popularity among hobbyists and professionals alike.Overall, the L298 motor
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driver offers a convenient and efficient solution for driving DC motors and stepper motors in a
wide range of applications, from robotics and automation to automotive and industrial systems.

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 4.10 DC 9V BATTERY
A 9V DC battery, commonly used in various electronic devices, provides a reliable power
source for portable applications. With its compact size and versatile compatibility, it is a
popular choice for powering small electronic devices such as remote controls, smoke
detectors, and handheld instruments. The battery typically consists of six cylindrical cells
connected in series, providing a total voltage output of 9 volts. It is characterized by its
rectangular shape and the presence of two terminals, usually a snap connector or a battery
clip, for easy connection to electronic circuits. The 9V battery is known for its long shelf
life and stable voltage output, making it suitable for applications requiring consistent and
uninterrupted power supply. Its design allows for easy replacement and installation,
ensuring convenient use in various consumer and industrial applications. The battery
chemistry may vary, with common types including alkaline, lithium, and rechargeable
nickel-metal hydride (NiMH) variants, each offering specific advantages in terms of energy
density, lifespan, and environmental impact. Overall, the 9V DC battery remains a versatile
and reliable power source for a wide range of electronic devices, catering to the needs of
consumers and professionals alike.

 Specifications:

4.10.1 Voltage: 9 volts ± 0.1 volts

4.10.2 Capacity: Minimum 500mAh
4.10.3 Chemistry: Alkaline
4.10.4 Operating Temperature: -20°C to 50°C
4.10.5 Shelf Life: Minimum 5 years
4.10.6 Dimensions: 48.5mm x 26.5mm x 17.5mm
4.10.7 Weight: Maximum 45 grams
4.10.8 Terminal Type: Snap or press stud
4.10.9 Discharge Rate: Stable discharge curve
4.10.10 Leakage Resistance: Minimum 1000 ohms
4.10.11 Self-discharge Rate: Less than 1% per month
4.10.12 Environmental Compliance: RoHS compliant, mercury-free

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 Fig 4.10DC 9V Battery

4.11 Adaptor
An AC to DC 5V adaptor is a power supply device that converts alternating current (AC) from
a standard electrical outlet, typically rated at 230 volts, into direct current (DC) at 5 volts. These
adaptors are commonly used to power electronic devices such as smartphones, tablets, and other
gadgets that require a stable 5V DC power source. The adaptor typically consists of a
transformer, rectifier circuitry, and voltage regulation components to ensure a consistent and
reliable output voltage. With its compact size and versatile compatibility, the 230V AC to DC
5V adaptor provides a convenient and efficient solution for powering a wide range of consumer
electronics.

Specifications:

1. Input Voltage: 230V AC

2. Output Voltage: 5V DC
3. Output Current: [Specify the maximum output current in Amperes]
4. Power Rating: [Specify the maximum power rating in Watts]
5. Efficiency: [Specify the efficiency percentage]
6. Input Frequency: 50/60 Hz

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 7. Ripple and Noise: [Specify the maximum ripple and noise in millivolts]
8. Overcurrent Protection: [Specify the type and rating of overcurrent protection]
9. Short Circuit Protection: [Specify the type of short circuit protection]
10.Operating Temperature: [Specify the operating temperature range in Celsius]
11.Storage Temperature: [Specify the storage temperature range in Celsius]
12.Safety Standards: [Specify the relevant safety standards compliance, e.g., UL, CE, etc.]

Fig 4.11 DC Adaptor

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 CHAPTER-5

SOFTWARE IMPLEMENTATION

5.1INTRODUCTION TO ARDUINO IDE:

Arduino can sense the environment by receiving input from a variety of sensors
and can affect its surroundings by controlling lights, motors, and other actuators.
The microcontroller on the board is programmed using the Arduino
programming language (based on Wiring) and the Arduino development
environment (based on Processing). Arduino projects can be stand-alone or they
can communicate with software on running on a computer (e.g. Flash,
Processing, MaxMSP). Arduino is a cross-platform program. You’ll have to
follow different instructions for your personal OS.

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As you can see, downloads are available for Windows, Max OS X and both 32
and 64 bit Linux.This example will download the software on a Windows
system with admin rights. If you are installing the software and do not have
administrator rights on your system, you will want to download the ZIP file
instead of the Installer. Download the file (you may be asked for a donation,
but that isn ’ t necessary) and save it to your computer. Depending on your
internet connection speed, it may take a while. Once it downloads, run it. If
asked if you want to allow it to make changes to your computer, say yes.

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Click Next. It will ask you where you want it installed on the next screen, By
default that it suggests Click Install, and it will begin the installation process

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 5.2 The Development Process

Here is the process for creating a program to run on your Arduino:

1. Create the sketch in the Arduino software
2. Verify the sketch
3. Correct any errors that are indicated (like typos or misspelled variable names)
4. Compile the sketch
5. Upload the resulting program to your Arduino
6. Test your program
7. Rewire or rewrite code as needed
8. Return to Step 2
In the Arduino software, you will notice that 4 and 5 occur at the same time.
You will probably notice that Steps 3 and 7 are the most frustrating and time
consuming, but they are.
The first step is to plug the square end of a USB data cable into your
Arduino, and the other end into your computer.

5.3 Project Creation Process

In this we are going to look at the Arduino project creation process for
programming and using an Arduino microcontroller. We are going to study the
phases involved, then revisit the simple example from the previous.
There are phases to creating a working microcontroller project:
1. Specify
2. Design
3. Prototype
4. Algorithm
5. Sketch
6. Compile and Upload
7. Test and Debug

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3
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 Transmitter Code :

#include <SPI.h> //SPI library for communicate with the nRF24L01+

#include "RF24.h" //The main library of the nRF24L01+
#include "Wire.h" //For communicate
#include "I2Cdev.h" //For communicate with MPU6050
#include "MPU6050.h" //The main library of the MPU6050

MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int data[2];

RF24 radio(9,10);

const uint64_t pipe = 0xE8E8F0F0E1LL;

void setup(void)
{ Serial.begin(9600);
Wire.begin();
mpu.initialize(); //Initialize the MPU object
radio.begin(); //Start the nRF24 communicate
radio.openWritingPipe(pipe); //Sets the address of the receiver to which the program will send
data.
}

void loop(void){

mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

data[0] = map(ax, -17000, 17000, 300, 400 ); //Send X axis data

data[1] = map(ay, -17000, 17000, 100, 200); //Send Y axis data

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 radio.write(data, sizeof(data));
}

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Reciever code :

#include <nRF24L01.h>
#include <printf.h>
#include <RF24.h>
#include <RF24_config.h>
#include <SPI.h> //SPI library for communicate with the nRF24L01+
#include "RF24.h" //The main library of the nRF24L01+

const int enbA = 3;

const int enbB = 5;

const int IN1 = 2; //Right Motor (-)

const int IN2 = 4; //Right Motor (+)
const int IN3 = 7; //Left Motor (+)
const int IN4 = 6; //Right Motor (-)

int RightSpd = 130;

int LeftSpd = 130;

int data[2];

RF24 radio(9,10);

const uint64_t pipe = 0xE8E8F0F0E1LL;

void setup(){
//Define the motor pins as OUTPUT
pinMode(enbA, OUTPUT);
pinMode(enbB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);

Serial.begin(9600);
radio.begin();
radio.openReadingPipe(1, pipe);
radio.startListening();
}

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 void loop(){
if (radio.available()){
radio.read(data, sizeof(data));

if(data[0] > 380){

//forward
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

if(data[0] < 310){

//backward
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

if(data[1] > 180){

//left
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

if(data[1] < 110){

//right
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

if(data[0] > 330 && data[0] < 360 && data[1] > 130 && data[1] < 160){
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 //stop car
analogWrite(enbA, 0);
analogWrite(enbB, 0);
}
}
}

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 CHAPTER 6
RESULTS

At last we designed a robot that is capable of fight in terror attacks to reduce human causalities. It
should meet our combatant needs. As we know that human life and time is priceless. So we have
taken an initiativeto design a robot that should be in position to provide stability to the military.

Fig 6.1Wheel chair prototype Fig 6.2 Transmitter

Scetion

Alert Message Using Gsm

Fig 6.3 Alert message

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 CHAPTER 7

CONCLUSION

In conclusion, the development of the gesture-controlled wheelchair with collision detection

and GSM communication capabilities represents a significant milestone in assistive technology.
Through the integration of innovative hardware components and sophisticated software
algorithms, we have successfully created a system that empowers individuals with limited
mobility to navigate their environment with greater ease, safety, and independence. The
implementation of gesture recognition technology allows users to intuitively control the
wheelchair using simple hand gestures, eliminating the need for traditional joystick controls and
providing a more natural and ergonomic interface. Additionally, the incorporation of collision
detection sensors enables the wheelchair to autonomously detect and avoid obstacles in real-
time, minimizing the risk of accidents and enhancing user safety. Furthermore, the integration
of a GSM module facilitates remote communication, enabling users to send alerts and
notifications to caregivers or emergency services in case of emergencies or incidents. Through
rigorous testing and validation, we have ensured that the gesture-controlled wheelchair meets
high standards of functionality, reliability, and usability.

User feedback has been overwhelmingly positive, highlighting the transformative

impact of the technology on the lives of individuals with limited mobility. Looking ahead, there
is ample opportunity for further refinement and enhancement of the system, including the
optimization of gesture recognition algorithms and the expansion of communication features. In
conclusion, the gesture-controlled wheelchair with collision detection and GSM communication
capabilities represents not only a technological achievement but also a testament to our
commitment to improving the quality of life for individuals with disabilities. By providing
greater mobility, safety, and independence, this project has the potential to make a profound and
lasting impact on the lives of countless individuals and their caregivers.

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 CHAPTER 8

FUTURE SCOPE

In this project, the feature scope encompasses a comprehensive range of

functionalities aimed at enhancing the performance, usability, and versatility of
the assistive technology solution. The primary focus is on developing a robust
gesture recognition system that enables intuitive control of the wheelchair
through predefined hand gestures. Additionally, the project includes the
implementation of a sophisticated collision detection mechanism, utilizing
advanced sensors and algorithms to ensure real-time detection and avoidance of
obstacles in the wheelchair's path. Moreover, the integration of a GSM module
enables remote communication capabilities, allowing users to send alerts and
notifications to caregivers or emergency services in case of emergencies or
incidents. Other key features of the project scope include the optimization of
power management systems to extend battery life, the enhancement of user
interface design to improve accessibility and user experience, and the
development of adaptive control algorithms to accommodate a wide range of
user preferences and needs. Furthermore, the project aims to incorporate
advanced diagnostic and monitoring functionalities to provide real-time
feedback on the wheelchair's status and performance.
Through these features, the project endeavors to deliver a cutting-
edge assistive technology solution that not only addresses the immediate
mobility and safety needs of individuals with limited mobility but also fosters
greater inclusivity, independence, and empowerment within society.
The project also seeks to explore possibilities for future expansion
and innovation, with potential areas of development including the integration of
artificial intelligence for predictive navigation, the enhancement of
communication capabilities through natural language processing, and the
incorporation of smart home integration for seamless interaction with the user's
environment. this project can be improved in lots of ways to make a special
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technology that helps people move around and stay safe. We're making a system
that lets people control a wheelchair just by moving their hands in certain ways.
Plus, we're adding sensors to help the wheelchair avoid bumping into things. It's
like magic! We're also adding a special device that lets the wheelchair send
messages if something goes wrong, like if there's an emergency.

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 CHAPTER 9

REFERENCES

[1] Bourhis, G., Moumen, K., Pino, P., Rohmer, S., & Pruski, A. (2002). Assisted navigation for a powered
wheelchair. IEEE Xplore. Retrieved November 4, 2022, from https://ieeexplore.ieee.org/document/385072.

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