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School of Engineering Science ▪ Burnaby, BC ▪ V5A 1S6

http://www.drivomatic.com

Drivomatic Technology Corporation

Enclosure: Proposal for a Self-Driving Wheelchair System

January 21, 2008

Dr. Patrick Leung

School of Engineering Science

Simon Fraser University

Burnaby, BC V5A 1S6

Re: ENSC 440 Project Proposal for a Self-Driving Wheelchair System

Dear Dr. Leung:

I am submitting to you a Proposal for a Self-Driving Wheelchair System, outlining our project

for ENSC 440 (Capstone Engineering Science Project). Our goal is to develop a self-driving

wheelchair system that allows the mobility impaired to navigate within buildings such as airports

or nursing homes with maximum independence.

The purpose of this proposal is to provide an overview of our project, outlining design

considerations and the proposed design solution. In addition, the document will cover the

projected budget, sources of funding, sources of information, project scheduling and team

organizations. Future research and development for improvements will also be discussed.

Company consists of five team motivated engineering students: Jonathan Hung, Andy Chen, Jian

Guo, Benjamin Chang, and Ammar Zaidi. If you have any questions or concerns about our

proposal, please do not hesitate to contact me by phone at (604) 721-0585 or via e-mail at

[email protected].

Sincerely,

Jonathan Hung

President and CEO



Proposal for a

Self-Driving Wheelchair

Project Team: Jonathan Hung Andy Chen Jian Guo Benjamin Chang Ammar Zaidi

Contact Person: Jonathan Hung [email protected]

Submitted to: Patrick Leung – ENSC 440 Steve Whitmore – ENSC 305 School of Engineering Science Simon Fraser University

Issued date: Jan 21, 2008

Revision: 1.1

Proposal for a Self-Driving Wheelchair System

DTC | Executive Summary II

EXECUTIVE SUMMARY

Drivomatic Technology Corporation’s Mission:

“To provide innovative solutions for the mobility impaired to increase the

individuals’ independence and security in everyday life.”

The self driving wheelchair system will be a valuable product for various public and

private sectors in our community. Recently the CBC marketplace reported:

“Thousands of seniors live in nursing homes across the country. That number will

grow rapidly as the baby boomer generation ages. That demographic fact means

care for the elderly is becoming an extremely lucrative business.” [4]

The self-driving wheelchair will be a replacement for those baby boomers in care/nursing

homes that require the use of wheelchair. Many of these elderly people suffer from

Arthritis, Parkinson’s disease etc which hamper their ability to use their hands. The self

driving wheelchairs will allow these elders to simply use the input buttons to maneuver

around. Another market for our product will be those disabled elderly people living in

their homes and require the use of a wheelchair. Therefore the potential marker for our

product is very vast and will continue to grow as the baby boomer generation retires.

This document proposes developing a system built upon an electric wheelchair in an

indoor environment. The system allows the wheelchair to interact with the environment

and auto navigates itself. Given the users are operating in a designated environment, they

simply have to steer the wheelchair near the color coded track and enter a destination to

have the wheelchair take them there. This system allows the user to travel around in the

designed closed environment with minimal effort thus minimizing accidents and

difficulties in wheelchair operation. In designing the project, safety and ethical issues

will be DTC’s number one priority.

Drivomatic Technology Corporation is established by five diligent engineers with a vast

range of expertise. We have intelligent minds in the technical as well as in the business

fields. Our diversity of knowledge and experience will aid us to the success of this

project.

The project is carried out through three phases; research, implementation, and debugging

stages. The project is expected to be completed within the 13 weeks time frame at the

end of the first week of April 2008. The budget needed for the project is estimated to be

around $1330.


DTC | Table of Contents III

TABLE OF CONTENTS

1 INTRODUCTION ....................................................................................................... 1

2 SYSTEM OVERVIEW ............................................................................................... 2

3 POSSIBLE DESIGN SOLUTIONS ............................................................................ 3

3.1 Conventional Wheelchair ..................................................................................... 3

3.2 Electrical Wheelchair ........................................................................................... 3

3.3 Anti-Collision Wheelchair [1] ............................................................................... 3

4 PROPOSED DESIGN SOLUTION ............................................................................ 4

4.1 Future Development ............................................................................................. 4

5 SOURCES OF INFORMATION ................................................................................ 5

6 BUDGET AND FUNDING ........................................................................................ 6

6.1 Budgets ................................................................................................................. 6

6.2 Funding................................................................................................................. 6

7 SCHEDULE ................................................................................................................ 7

8 TEAM ORGANIZATION .......................................................................................... 8

9 COMPANY PROFILE ................................................................................................ 9

10 CONCLUSION ......................................................................................................... 11

11 SOURCES OF REFERENCE ................................................................................... 12

TABLE OF FIGURES

Figure 2-1: Moving from point A to B. .............................................................................. 2

Figure 2-2: System Design Flowchart. ............................................................................... 2

Figure 7-1: Project Time Line with Milestones. ................................................................. 7

TABLE OF TABLES

Table 1: Budget Breakdown. .............................................................................................. 6


DTC | Introduction 1

1 INTRODUCTION

Today, motorized wheelchairs are very popular because of the vast improvements on the

maneuverability they provide for the mobility impaired. However, even with this

improvement, some people continue to have trouble maneuvering around, such as people

with Parkinson’s disease or Arthritis due to the inability to control the joysticks with

dexterity. More importantly, seniors with Alzheimer may become lost even in their

nursing home.

There are very limited options for these people to lead to a normal life. The inability to

control electric wheelchairs makes it very hard for them to move around on their own.

Also, though they are otherwise independent, they require external caretaking from either

family of professionals to overcome their problems.

The objective of our project is to develop a stand-alone wheelchair equipped with an

auto-navigation system to help the wheelchair user maneuver through their surroundings.

The system will also map the surrounding environment and transport the passenger from

one place to another. RFIDs are used to identify the locations, while a microcontroller is

implemented to maneuver the wheelchair.

An automated navigation system for wheelchair will improve passenger’s mobility and

maneuverability within buildings. This navigation system also includes a homing feature

to help passengers with Alzheimer’s disease to find their way back to their room.

This document is a proposal providing an overview of our product, design considerations,

source of information, budget and project scheduling. Alternative solutions and existing

similar solutions are discussed and criticized. Also included is a Gantt and milestone

chart.


DTC | System Overview 2

2 SYSTEM OVERVIEW

Our system will include a track, integrated into

the environment of operation and a processing

system attached to an electric wheelchair. Our

product will be able to auto-steer the electric

wheelchair from and to positions that are

defined by the track in the prepared

environment. Fig 2-1 is a simple diagram of

the wheel chair moving from current position

point A to destination point B following a

calculated path. Figure 2-1: Moving from point A to B.

At point A, the user inputs the destination B into the system. Knowing the destination,

the processing system finds out the current location and then calculates a desired path for

the wheelchair to travel to point B. The system communicates with the driving system of

the wheelchair to follow the calculated path until the destination is reached. The driving

system follows and interacts with the track. Feedback from the environment keeps the

wheelchair moving in the correct path and determines the current location of the

wheelchair by reading the sensors embedded on the track. Information read from the

track would be processed and fed back into the driving system. The following flowchart

illustrates how each part of the system interacts.

Figure 2-2: System Design Flowchart.


DTC | Possible Design Solutions 3

3 POSSIBLE DESIGN SOLUTIONS

Currently there are many existing solutions to aid the elderly and disabled people to

travel. Although the existing solutions are adequate, some do not take into account

specific population of wheelchair users, such as those who are unable to remember

whereabouts of their destination.

3.1 Conventional Wheelchair

Conventional wheelchair provides paraplegics with a convenient way to travel around.

However, maneuvering a wheelchair is not easy for most elderly people lacking upper

body muscle strength. Although all the disadvantage of a conventional wheelchair can be

solved by having a nurse assistant maneuvering the wheelchair for the patient, it is not

always possible.

3.2 Electrical Wheelchair

Electrical wheelchairs are able to provide patients with high mobility. However, if the

patients do not know the way to the destination, outside help is still needed. Due to the

high mobility of the wheelchair, the user can operate or lose control of the wheelchair and

result in catastrophic consequences.

3.3 Anti-Collision Wheelchair [1]

To solve the flaws of the electric wheelchair drivers with certain cognitive disabilities

who are unaware of their surroundings, an anti-collision system for wheelchairs was

developed. This system would ensure that the electric wheelchair would not collide into

obstacles thus avoiding possible hazards. However, patients with difficulty controlling

their hand and patients who are not able to recognize the path to their destination would

still have difficulty maneuvering the wheelchair.


DTC | Proposed Design Solution 4

4 PROPOSED DESIGN SOLUTION

DTC’s objective is to design a wheelchair system that allows the user to

input a destination which they want to reach. An input keypad will be

provided to the user which will be used to enter the identification of the

location that the user would like to reach. All designated locations will

be inside a home or a care center where the wheelchair user resides. The

system will calculate the desired path to the destination and will

automatically steer and drive the wheelchair. Initially the system will be

designed to reach the destination through the desired path; however a

possible improvement will be added to allow the system to avoid

obstructions through the path of the wheelchair.

Initially, a predefined map of the residential area where the device will

operate must be uploaded into the system. The wheelchair will be driven

over a system of colored strips that will be placed throughout the user’s

residence. The colored strips will be read using optical sensors which

will ensure that the wheelchair remains on the strips at all times. An

RFID tag will be placed at each intersection and room in the residence in

order to allow the system to identify different locations. The user will

enter the location’s ID into the system and the wheelchair will stop once

it has read an ID that matches the desired location.

4.1 Future Development

Once a system that is capable of maneuvering the wheelchair

automatically on a colored strip has been implemented, it will be further

improved by adding additional features. Specifically these features will

include an obstacle sensor that will allow the wheelchair to detect

obstacles in its path. Ideally, the wheelchair will drive around the obstacle and continue

on its path.

Another improvement will involve the wheelchair navigating using only optical sensors

without colored strips. The optical sensors will be used to map the surrounding

environment into the system and the wheelchair will maneuver using the stored map in its

system. This will greatly enhance the adaptability of the auto pilot wheelchair allowing it

to map the surrounding environment itself rather than requiring an initial upload of a

predefined map.

Mobility Impaired

Personal switches system ON (IDLE).

Input destination.

System determines

current location.System calculates the

shortest route.

Reached destination

Possible cause:

Obstruction in path.User is allowed to drive

the system manually (RESET).


DTC | Sources of Information 5

5 SOURCES OF INFORMATION

In analyzing the problem, we will obtain information in a variety of ways, such as textbooks, professors in the related fields, internet, feedbacks from potential clients and manufacturer’s component data sheets.

One feature of this self driving wheelchair system involves video processing. Hence some of the video processing techniques will become essential to the success of the system. For this reason, textbooks on video processing are required. Electronics textbooks are also needed for analog circuit integrations.

Furthermore, there are many professors in SFU with expertise in electronic circuit design, Radio Frequency (RF) communications, hardware system design and video processing. They will be a very important asset to our company, as they will be directing our engineers throughout the project.

The internet will prove to be the most accessible resource for finding potential clients, sources of funding. It is also very helpful for finding other technical information such as specific circuit designs and discussions.

Feedback from potential clients will act as the compass for this project. By discussing the project with potential clients, the engineers can get a better understanding of their needs to aid the design of the project. In addition, ethical issues may also be resolved through discussion.


DTC | Budget and Funding 6

6 BUDGET AND FUNDING

6.1 Budgets

The following table shows an estimated budget for each part required for this Self

Driving Wheelchair project. As can be seen, the most expensive part is the electric

wheelchair; however, the wheelchair is essential for prototyping and R&D. As for our

production, we would like to have our product as an add-on for normal electric

wheelchairs.

Table 1: Budget Breakdown.

[2] Hobby Engineering [Online]. - http://www.hobbyengineering.com.

[3] NJE Consulting Canada’s RFID System Integrator [Online]. - http://www.nje.ca/Index_Contact.htm.

6.2 Funding

Our primary source of funding would be from ESSS. We have met the requirement for

Engineering Science Student Endowment Fund (ESSEF) and falls into category C for

Engineering Science Project courses. In addition to ESSEF, the Wighton Engineering

Development Fund is also available for medical related project. As our last resort, the

University/Industry Liaison Office (UILO) at SFU provides a Prototype/Proof of

Principle Funding. Each member of DTC would contribute the remaining funding

required.

Item Estimated Costs

Electric Wheelchair $450

Microcontroller $300

RFID Reader/Tags $75

3 Color CCD Cameras $100

Obstacle sensors $100

Cables/Wires $20

Keypad $20

LCD/LED $40

Miscellaneous $225

Total $1,330


DTC | Schedule 7

7 SCHEDULE

To ensure that our project is completed within the tight three months time frame available

to us, we have planned an implementation schedule to follow as a guide. To summarize,

the project will be completed in three interconnecting phases. Phase 1, the research stage,

compromises the research and design of the project as well as the resource planning.

Phase 2, the implementation phase, compromises testing and further research, and also

the beginning of the prototype construction and debugging. Phase 3, the debugging

phase, compromises debugging and final touches to the prototype and website

development along with the writing of the process report.

Fig 7-1 shows the Gantt chart outlining the project time-line the team is expected to

follow. In addition, the Gantt chart illustrates the team milestones, marked with a black

diamond. The milestones are created to serve as deadlines for the team to aim towards.

Figure 7-1: Project Time Line with Milestones.


DTC | Team Organization 8

8 TEAM ORGANIZATION

Drivomatic Technology Corporation (DTC) consists of five talented team-oriented

engineers: Jonathan Hung, Andy Chen, Ammar Zaidi, Benjamin Chang, and Jian Guo.

Although the members of the team are all from engineering backgrounds, they possess

different strengths and interests. It is imperative that the team focuses on a common goal,

so that each member may utilize their specific strengths to achieve success. Information

about individual team members is in the following section, Company Profile.

Considering the size of the organization, it is important that the work be shared and

delegated diligently among the team members. However, each member is assigned a

position in the Corporation with specific responsibilities to make certain that each field of

operation is managed efficiently. Jonathan Hung, Chief Executive Officer (CEO), is

responsible for keeping the officers organized as well as making final decisions. Andy

Chen, Chief Financial Officer (CFO), is responsible for managing the budgeting and

funding of projects. Jian Guo, Chief Marketing Officer (CMO), is responsible for

planning marketing strategies for the projects as well as managing the company’s

intellectual property. Benjamin Chang, Chief Operations Officer (COO), is responsible

for managing the resources for projects. Ammar Zaidi, Chief Technology Officer, (CTO),

is responsible for managing the technology development.

To maintain proper team dynamics and communication, DTC encourages an interactive

organization structure. It is important for the team to be motivated towards a common

goal as well as personal development. Team members are encouraged to take initiative

and make decisions when required.

Weekly meetings are arranged to maintain team motivation and progress review. Tasks

assigned from the previous meeting will be reviewed and modification of the project

Gantt chart will be initiated as necessary. DTC take full advantage of online

collaboration tools to make communication efficient and organized.

One of the agenda items in the weekly meetings is to delegate work among the team

members. Projects are organized into modules and individual tasks to properly divide the

work among the members with each task given to the best candidate according to his

specific skills and experience.


DTC | Company Profile 9

9 COMPANY PROFILE

Jonathan Hung – Chief Executive Officer (CEO)

Jonathan is a fifth year Systems Engineering Science student at Simon Fraser University

with previous co-op experience with TRIUMF in Japan. He possesses the leadership

qualities needed to facilitate this company. His extensive engineering knowledge

includes Feedback and Modern Control Systems theory, Real-time System programming

using C, practical applications with Sensors and Actuators, Java Object Oriented

programming, Sound and Video compression using MATLAB, and Solid Works.

However, in addition to Jonathan’s technical background, his strengths are in the fields of

organization, communication, and leadership abilities.

Andy Chen – Chief Finance Officer (CFO)

Andy is a fifth-year System Engineering student in Simon Fraser University. With his

previous co-op experience with Dr. Shahram Payandeh working with Hockey Robot

Project at SFU, he is competent in distance/proximity sensory implementation and

microcontroller programming. Also, his past research and development experience at

NGrain 3D software company has given him the dynamic problem solving skills. Above

all, he has valuable financial experience from working at his family owned restaurants as

inventory manager and as IT technician.

Jian Guo – Chief Marketing Officer (CMO)

Jian is a fifth year Systems Engineering students at Simon Fraser University with

experience in a variety of fields. As a result of his prior co-op experience, he is skilled

with multiple software programming languages. Jian also specializes in hardware

Programmable Logic Device (PLD) and embedded system programming. More

importantly, from his prior experience in a business project, Jian is experienced with

marketing methods.


DTC | Company Profile 10

Benjamin Chang – Chief Operations Officer (COO)

Benjamin is a fifth year Systems Engineering student at Simon Fraser University with

previous co-op experience at HSBC and Mechatronics lab in SFU. He has extensive

knowledge in the field of Feedback and Modern Control Systems applications, robotic

control theory and real time multithreaded system programming. His experience of

LabView system programming in Mechatronics lab and programming a simulated

SCARA robotic arm system with feedback control in C++ will help integrate and bring

the system together.

Ammar Zaidi – Chief Technology Officer (CTO)

Ammar is a fifth year Electronics Engineering student who will be the Chief Technology

Officer of the company. His current co-op term at VTech Engineering has allowed him

to gain valuable experience in RF design and development in various applications. His

industry knowledge in Electro Magnetic Interference will be useful in the reduction of

EM noise from the autopilot system of the wheelchair. With his ability to analyze and

debug various electronic circuits for efficiency and reduction in unwanted EM noise he

will be a valuable asset in the design and implementation of the RFID system in our

product.


DTC | Conclusion 11

10 CONCLUSION

Drivomatic Technology Corporation is dedicated to applying technology to increase the

mobility and independence of seniors. In addition, our system is beneficial to the

caretakers/nurses as it saves them from trivial tasks and therefore increases their

productivity.

The Gantt chart illustrated in the previous schedule section of the proposal summarizes

the team’s schedule spanning the thirteen weeks deadline. The team has the technical

expertise to complete this project and have listed the source of finances to achieve this

objective.


DTC | Sources of Reference 12

11 SOURCES OF REFERENCE

[1] Canadian researchers take top international prize [Online] // Canadian

Paraplegic Association. -

http://www.canparaplegic.org/en/Research_32/items/2.html.

[2] Hobby Engineering [Online]. - http://www.hobbyengineering.com.

[3] NJE Consulting Canada’s RFID System Integrator [Online]. -

http://www.nje.ca/Index_Contact.htm.

[4] CBC Marketplace [Online]. -

http://www.cbc.ca/consumers/market/files/health/nursinghomes/index.html

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