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
Sincerely,
Jonathan Hung
President and CEO
Drivomatic Technology Corporation
Drivomatic Technology Corporation
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.
Proposal for a Self-Driving Wheelchair System
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
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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).
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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.
Proposal for a Self-Driving Wheelchair System
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