TABLE OF FIGURES
Figure 1: Design of Smart Wheelchair 11
Figure 2: The Smart Wheelchair Component System 17
Figure 3: Smart Power Assisted Module 18
Figure 4: Technical requirements on a wheelchair 21
Figure 5: Expectations from a smart wheelchair 22
Figure 6: Ostrich Mobility Instruments 24
Figure 7: Survey on Economic Feasibility 25
Figure 8: Block Diagram of Smart Wheelchair 26
Figure 9: Raspberry Pi Model B 27
Figure 10: Access of Raspberry Pi over SSH 31
Figure 11: Configuration Dialogue Box for PuTTY 32
Figure 12: Graphical User Interface in Raspbian 33
Figure 13: Connections to Raspberry Pi 35
Figure 14: Accelerometer ADXL345 (Top View) 36
Figure 15: Differences between I2C and SPI 37
Figure 17: Frequency super-positioning in DTMF 39
Figure 18: Frequency Table for DTMF 39
Figure 19: WebIOPi Server Structure 41
Figure 20: Protocol between Browser and WebIOPi 43
Figure 21: Joystick and Button control 44
Figure 22: Block Diagram of Input devices and USB of Raspberry Pi 46
Figure 23: Block Diagram motor connections to the Raspberry Pi through drivers. 46
Figure 24: Working Principle of Sonar 48
Figure 25: Ultra Sonic Sensor HC SR04 48
Figure 26: Circuit for Battery Level Indicator 50
Figure 27: Implementation on a breadboard 50
Figure 28: Urine Bag Indicator 52
Figure 29: Implementation of Urine Bag Indicator 52
Figure 30: Schematic representation of Differential Drive 53
Figure 31: Schematic representation of Power Steering Drive 54
Figure 32: Portable USB Power Source 54
Figure 33: Complete mechanical design of wheelchair. 55
Figure 34: Wheel Design 55
Figure 35: Frame design 55
Figure 36: Frame in workshop 56
Figure 37: Actuators and motors for lift mechanism 56
Figure 38: Front Wheel 56
Figure 39: Screw Jack for lift mechanism 56
Figure 40: Frame of Wheelchair 56
Figure 41: Flowchart for android application 58
Figure 42: Sequence diagram with Raspberry Pi 58
Figure 43: Sequence Diagram for Database 58
Figure 44: Circuit Diagram 63
Figure 45: H-Bridge Connection 63
Figure 46: L293D Pin Configuration 64
Figure 47: Motor Connection 64
Figure 48: Truth Table for motor movement 65
Figure 49: Circuit Diagram 66
Figure 50: Interfacing with Raspberry Pi 66
Figure 51: Raspberry Pi Model B with SD Card 67
Figure 52: Ultra-Sonic sensor HC SR04 67
Figure 53: Accelerometer ADXL345 67
Figure 54: Web Camera 68
Figure 57: Motor Driver L293D 68
Figure 55: Joystick 68
Figure 56: DTMF Module 68
Figure 58: MCP23017 Port Extender 68
Figure 59: Portable Charger 68
Figure 60: Prototype from various views 69
Figure 61: ADXL345 75
Figure 62: DTMF Decoder Module 80
Figure 63: MCP23017 83
Figure 64: Ultra Sonic Sensor HC SR04 87
Figure 65: Timing Diagram HC SR04 88
Figure 66: Pin Configuration L293D 88