1. DEPARTMENT OF EEE IFET COLLEGE OF ENGINEERING VILLUPURAM,TAMIL NADU,INDIA Project proposal For IEEE CS 70 th Anniversary Student Challenge On PATHLINE BASED AUTOMATIC TRICYCLE FOR PHYSICALLY DISABLED PERSON USING HYBRID TECHNOLOGY A. Azhagappan R. Aravindan A. Arokiya Henry Jayaraj S. Balaji Submitted by

2.  This paper presents the automatic control of vehicle for physically challenged person.  To avoid collision or obstacles, ultrasonic sensor is used to stop vehicle and avoiding accidents.  The infrared sensor will detect path line and sends commands to microcontroller  Solar panel is connected additionally with battery ABSTRACT

3.  The main aim of this project to reduce the difficulties faced by the physically challenged person and helps them with a fine solution.  There is some physical work for them, just to start the vehicle and stop it.All other operations will be automatically done.  The only thing is we had to put a path line for our desired Location, where we visit that location frequently. INTRODUCTION

4. Role of IR sensors  The IR sensor plays a vital role in sensing the path line.  It consist of two IR sensor module, in each has one IR emitter LED and one IR receiver.  These two sensors are placed above the path line.  One variable resistor is used for varying distance.

5.  When the sensor moving above the black line mean LED will emit light is absorbed by black line,so no light is reflected to IR receiver.  This signal is sent to comparator which compares output signal from IR sensor with ref and produces output as logic 0.  Therefore no change in motor speed and torque,it will operates continuously in forward direction. Operation of IR sensor

6.  If sensor moving on white line, the IR Led will emit light,it will be reflected by white surface to IR receiver.  When light is received immediately comparator will compares with reference signal, while exceeds means it produces output as logic1 (LED glow).  When left side sensor detects white line means right motor will move towards right side and vice versa. Cont….

7.  The ultrasonic sensor also called as range finders. Because it has high frequency and it can sense 4-6 m of distance.  These type of sensors are used for obstacle detection.  The obstacle may be human or animal or some other thing. Operation of ultrasonic sensor

8.  It will detect and produce alarm signal.  The obstacle is detected when it is in black line only the alarm is generated and vehicle is immediately stopped.  After obstacle is removed it will proceed to move forward. Cont…

9. Atmega 328 p microcontroller The advantage of using arduino from others are: Really understandable,what we are coding. Easily convert to real time application. Efficient one and easy. Arduino microcontroller

10.  This project explains how the vehicle is moving from one place to another by using path line.  Dc gear motor is used because we can operate at low speed and manageable for mobile robot.  Path line is placed,based on that users desired location.  This system reduces the maintenance cost and running cost. PROPOSED SYSTEM

11. Block diagram IR sensor1 IR sensor2 Ultrasonic sensor Atmel ATmega 328P Comparator Motor Driver Dc gear motor comparator

12. Ultrasonic sensor will be used for obstacles detection and its range will be 4-6 m. When the obstacle or something appears before vehicle, the ultrasonic sensor will sense and then the vehicle is stopped. Cont..

13. Operation  The tricycle placed above the pathline. The person may be physically challenged person or blind people.  When the power switch is ON, the battery delivers supply to controller and motor.  The IR sensor will move above the path line(black line), When it deviated from black line immediately control send to microcontroller and motor direction is controlled towards the black line.

14. Incase any obstacle or interrupt before vehicle means,the vehicle will stop.this operation is continued until the vehicle reaches the destination. Cont..

15. Less maintenance and more reliable Programming is simple and easy. Cost of components are at the acceptable level. Motor and battery used in this project will produce long life. Advantage

16. Cost Estimation Name of component NOSCost in INR Ardiuno ATmega328p1750 IR sensor2160 Ultrasonic sensor1200 DC Gear motor ½ hp23000 Tricycle13000 Solar Panel 60W14200 Battery 12v,9AH14200 Prototype4000 Total 19,500

17. Conclusion From this project we can run the vehicle efficiently for handicapped peoples. By this,human can shifted to another work and also time requirement will be less. This type of project can be implemented in small scale industries, college, schools, hospitals for helping the handicapped peoples.

18. REFERENCES  G. Antonelli, F. Arrichiello, F. Caccavale, and A. Marino, “Decentralized centroid and formation control for multi-robot systems,” in IEEE Int. Conf.Robotics Automation, Karlsruhe, Germany, 2013, pp. 3511– 3516.  T. Liu and Z. Jiang, “Distributed formation control of nonholonomic mobile robots without global position measurements,” Automatica, vol. 49, no. 2, pp. 592–600, 2013.

19. THANK YOU