AUTONOMOUS MOBILITY SYSTEM FOR DISABLED USING ARTIFICIAL INTELLIGENCE N.Shobana 1, Dr.C.SureshGnanaDhas2, Dr.G.

MohanKumar 3
Assistant professor, Dept. Of Electronics & communication. E-mail- shobana.nature@gmail.com 2 Professor & Head, Dept. of Information Technology, PCET. E-mail sureshc.me@gmail.com 3 Principal, Park College of Engineering & technology, Kaniyur. E-mail- gmohankumar68@yahoo.com Abstract: In recent days a considerable number of rehabilitation robotics and related projects were developed for physically challenged for their easy mobility. Though there are many robotics available to enable their motility they require fine and accurate control which is most of the times not possible in cases of higher disability. The users find their movements very tough with the existing assistive devices due to the lack of ease control and manoeuvrability over uneven platforms with powered systems. The main aim of the project is to design and develop an autonomous robotic assistive aid navigation system for disabled. It reports the basic fundamental works in developing a robotic assistive system that involves the movement that enables the user to have command over the robot, its direction of movement with the help of sensing and alarming the user about the obstacles in the path to avoid collision. The project also concentrates o n developing this system to be reliable climbing on staircase, slippery and uneven surfaces with assistance of artificial intellectual remote controlling making mobility easy for disabled people which is entirely autonomous. The system consists of sensoria l system for obstacle detection intimates to take an automatic diversion in the path. Onboard field-programmable gate array (FPGA) chip for custom I/O timing and processing is used on which codings are deployed from Lab VIEW software. To provide more ease to the user, artificial intelligence is used additionally for command over robot. Keywords: FPGA (field programmable gate array), input & output) board, artificial intelligence. INTRODUCTION A locomotion disabled person are defined as someone unable to walk normally without help or unable to move their hands or arms properly for a reason other than age. Locomotion disability is not life threatening but greatly affects the quality of life led by the disabled people. A survey conducted by WHO South-East Asia Region says about 10 percent of worlds population face locomotion disability among which 2 percent in India including paralysis, as suggested by National Sample Survey. Paralysis is loss of muscle function, most often caused by damage in the nervous system, especially the spinal cord. This led us to come up with an innovative solution of building a system -- Autonomous mobility aid for Disabled especially for paralyzed and locomotion disabled people. Several works for disabled people's help and assistance have been investigated and particularly those concerning hardware design and mobility on different surfaces related to automated system. Every existing systems provides hefty hardware and huge size making the movement difficult in ramps and narrow RIO (Reconfigurable
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doorways. We propose a system which is focused to overcome the above discussed challenges. Thus, make a mobility device with intelligent and autonomous system, leads to develop new strategies taking into account in one hand, environmen t dynamics, and in other hand, obstacle detection using sensorial system. The system consist of ultrasonic sensors that uses sound waves above 20,000 Hz, beyond the range of human hearing, to measure and calculate distance from the sensor to any object in the path of robot. This makes an automatic diversion in the robot movement to take another path. The information is sent to the main controller, NI Single -Board RIO embedded controller. This controller, powered by Lab VIEW Real -Time and Lab VIEW FPGA integrates a real time processor, FPGA and analog and digital I/O s i n g l e b o a r d . T h e L a b V I E W p r o g r a m s a r e d e p l o ye d i n t o t h e F P G A wh i c h p r o v i d e s d e s i g n , p r o g r a m a n d c u s t o m i z e t h e N I s i n g l e - B o a r d R I O e mb e d d e d d e v i c e s u s i n g e a s y - t o use graphical programming tools. Drive controlled motion systems employ linear encoder so as to provide accurate, high-speed movement. Measuring position and distance is important in most of the control environments. The secondary control is given to keypad ( for simple forward -backward operations) and artificial intelligence using gestures is used for manual command. Proposed System: In our proposed system, the system is aimed to design with the following features Obstacle detection, Automatic Navigation System, movement on stairs, slippery and uneven surfaces and artificial intelligence control. The Ultrasonic sensors are used to detect the presence of object and to measure the distance to obstacle in the path. It works by the principle of measuring the time a sound wave takes to propagate from the sensor, to an object and back to the sensor. They are generated by a transmitter and reflected by the target. The returning waves are detected by a receiver. The time delay is used to measure the distance to the object. The farther away an object is, the longer it takes the sound wave to propagate. Object colour and/or reflectivity don't affect ultrasonic sensors which can operate reliably in high-glare environments. The information about the obstacle is sent to the main controller. As soon as the obstacle is detected the device takes another path away from the object avoiding collision. We are using NI LabVIEW and Single board RIO with various I/O modules to rapidly integrate the mechanical, electrical and software elements of our design into a functional robot prototype. The NI Single -Board RIO platform combines deployable, embedded d evices that feature a real -time processor, reconfigurable field -programmable gate array (FPGA), and analog and digital I/O on a single board programmed with NI LabVIEW software. I t is an reconfigurable, real time deployment platform for control of robotics system which has FPGA, and analog and digital I/O on a single PCB field-programmable gate array (FPGA) modular I/O expansion for flexible interfacing with sensors and actuators provided with 10/100BASE-T Ethernet port, RS232 serial port. In terms of performance, LabVIEW includes a compiler that produces native code for the CPU platform. The graphical code is translated into executable machine code by interpreting the syntax and by compilation. Drivers and abstraction layers for many different types of instruments and buses are included or are available for inclusion. These present themselves as graphical nodes. The abstraction

layers offer standard software interfaces to communicate with hardware devices. The provided driver interfaces save program development time. Block Diagram Description: Main Controller: The NI Single-Board RIO with built in FPGA acts as a master controller for the movement of the robot. It is responsible for a ll the decisions taken by the robot.

Block Diagram:

System Block Diagram Sensorial System: T his is used to sense the object in the path and converts it into digital data and transfers it to the Main controller. Ultrasonic sensor is the direct way to make non-contact distance measurements. Remote Control: Keypad control for forward/backward, le ft/right and stop command and artificial intelligence is used for major control operation. Drive motor and power supply: The drive motor is used to drive the system according to the command given that is interfaced with main controller. A power source of 24V DC supply is used Addition to the autonomous movement of the device, an artificial intelligence system is provided to be controlled manually. The keypad control provides basic movements which include forward, backward and stop control on device in situations where artificial intelligence is difficult to use. The artificial intelligence like gestures is used to control the movement and take destined path without hitting the

object. These commands are taken to the base controller on which driver interface (FPGA) is interfaced to the drive motor. This motor is flexible in controlling speed and drive movements. Together with the positional encoders are attached in order to control the motor. The encoder output has voltage signals which change according to the angle position. From the motor driver the signal is sent to the device making the movements accordingly to the manual command or autonomous. SOFTWARE DESCRIPTION: LabVIEW - Laboratory Virtual Instrumentation Engineering Workbench is a system design platform and development environment for a visual programming language from National Instruments. LabVIEW is commonly used for data acquisition, instrument control, and industrial automation on a variety of platforms including Microsoft Windows, various versions of UNIX, Linux, and Mac OS X. GRAPHICAL PROGRAMMING: LabVIEW ties the creation of user interfaces (called front panels) into the development cycle. LabVIEW programs/subroutines are called virtual instruments (VIs). Each VI has three components: a block diagram, a front panel and a connector panel. The last is used to represent the VI in the block diagrams of other, calling VIs. Controls and indicators on the front panel allow an operator to input data into or extract data from a running virtual instrument. However, the front panel can also serve as a programmatic interface. Thus a virtual instrument can either be run as a program, with the front panel serving as a user interface, or, when dropped as a node onto the block diagram, the front panel defines the inputs and outputs for the given node through the connector panel. This implies each VI can be easily tested before being embedded as a subroutine into a larger program. The graphical approach also allows non -programmers to build programs by dragging and dropping virtual representations of lab equipment with which they are already familiar. The LabVIEW programming environment, with the included examples and documentation, makes it simple to create small applications. The most advanced LabVIEW development systems offer the possibility of building stand alone applications. FEATURES OF LABVIEW Faster or more intuitive programming with graphical functional blocks. Seamless integration between LabVIEW and NI hardware. Pre-built drivers for hardware and instruments. Advanced built-in analysis and signal processing libraries. Highly customizable user interfaces. Ability to design, prototype, and deploy within a single development environment. Target various architectures (Windows, Mac, Linux, real-time OS, FPGA, microprocessors) with the same graphical approach. Dataflow representation that encourages engineers to develop scalable, readable, and maintainable software. Abstraction of memory management and programming constructs. Multicore capabilities. Integration with third-party tools such as text-based code, DLLs, .m file syntax, or third-party simulation models. Built-in tools for file I/O designed for engineering data.

CONCLUSION An entirely autonomous system with powered manoeuvrability that assists disabled people in flexible mobility and helping them in their daily work. We have focused to overcome the difficulties in the existing ones and develop new device with improved automation, safety and general robustness with the help of improvised balance system that is able to move on any terrain or surfaces. With autonomous control, the system probes the environment, makes decisions, and fully controls the mobility of the device, whic h leaves the user totally independent. The artificial intelligence system makes the user comfortable in giving command over the robot. Future work in the system can be the continued development in the control system with regard of low cost and less comple xity with development of advanced technology. REFERENCES

[1] Automation

of wheelchair using Ultrasonics and Kinematics byPreethika Britto,Indumathi.J,Sudesh Sivarasu,Lazar Mathew. [2] Development and practical application of a stairclimbing wheelchair by Murr ay J Lawn, Toshihide Sakai, Megumu Kuroiwa and Takakazu Ishimatsu. [3] Autonomous Wheelchair for Disabled People by G. Pires, N. Honrio, C. Lopes, U. Nunes, A. T Almeida Institute of Systems and Robotics University of Coimbra, Polo II 3030 Coimbra, Portugal. [4] http://sine.ni.com/nips/cds/view/p/lang/en/nid/210417 from national instruments on NI Single-Board RIO digital and analog I/O embedded devices [5] Perceptual Navigation for Semi-Autonomous Wheelchair Operations H. Uchiyama, W. D. Potter, M. A. Covington, J. Tarver and R. Eunice Artificial Intelligence Center, The University of Georgia