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Team 7 - One-Armed Wijit Wheelchair .by Evangelista, McClellan

1. SOA PROTECTION STARTING EFERENCE ERROR CIRCUIT E FEIFIE ERMA ECTION 0522280 D DoclD2148 Rev 8 5 35 Pin configuration 2 Pin configuration Figure 2 Pin connections top view L78S 6 35 E Q12 qu AR EM Q10 OU Re p i i R20 OUTPUT GROUND C B GROUND INPUT CS05710 TO 220 Figure 3 Schematic diagram ME era D2 TN 2 4958 DocID2148 Rev 8 2 L78S Maximum ratings 3 Maximum ratings Table 2 Absolute maximum ratings St ee E Vi DC input voltage A Rs romeros mmm Note Absolute maximum ratings are those values beyond which damage to the device may occur Functional operation under these condition is not implied Table 3 Thermal data Figure 4 Application circuits C 0 33uF CS25220 D DoclD2148 Rev 8 7 35 Test circuits L78S 4 Test circuits Figure 5 DC parameter C 0 33uF CS25220 Figure 6 Load regulation 8S e AL 2N6121 N OR EQ CS25230 Figure 7 Ripple rejection 120Hz 470uF cs25240 8 35 DocID2148 Rev 8 2 Electrical characteristics L78S Refer to the test circuits Tj 25 C V 12 5 V lg 500 mA unless otherwise specified Table 5 Electri
2. MAME 7E k d DIMENSIONS ARE IN INCHES DRAWN ere reel vg md TOLERANCES f T FRACTIONAL CHECKED TITLE ANGULAR MACH BEND 5 ees m T TWO PLACE DECIMAL ta 3 Coloptble_Coster_Actuator_Asembiy Rewsion THREE PLACE DECIMAL tow MEG APP t MORE GEOMETRIC QA PROPER vg CONRDENT AL TALA ICG PER CAM See G E SOLE PROPERTY OF ists SUE IDWG NO 0002 00 REV E COMPANT MAME HESE gt ANT D D PREPRODUCTION M PART OF AZ A WHOLE m SES Pr WOJ THE PERO OF Next asst Leo ce DELI COWS LAME HERE A PROMBTEO en e SCALE 1 10 WEIGHT SHEET 1 OF 1 Fig 42 Third Iteration Caster Assembly Exploded View 30 XIV HARDWARE TEST PLAN AND RESULTS A Installation Test The purpose of the installation tests was to get all the needed parts together and have the parts assembled to have the device prepared for the performance testing In these tests the components of each system block were documented to be able to easily keep track of the parts and make convenient replacements Additionally some of these parts needed cases to be made to hold them securely to the wheelchair To do this 3D printed cases were designed and made The mounting and mechanical hardware is listed below The electronics hardware 1s listed in the software installation testing section e 1 4 Servo Assembly and Hardware o Components Servo shaft extender gears servo mount o Comments All components are present and mounted e 1 5 Servo Disconnect Hardw
3. 2 Military Veterans a VA Also known as the US Department of Veteran Affair It is a government owned program that works specifically for the benefit of US veterans VA operates the nation s largest integrated health care system with more than 1 700 hospitals clinics community living centers domiciliaries readjustment counseling centers and other facilities 20 11 b SCI SCI is also known as the Spinal Cord Injury A person who is suffering from SCI usually has limited mobility since the spinal cord plays a big role in the human nervous system Every year more than 10 000 people in the U S sustain a spinal cord injury SCI 21 c VA s SCI centers There are a total of 25 Spinal Cord Injury Centers SCI Centers that are located around the country They provide excellent treatment for patients who suffer from spinal cord injuries Our industry sponsor Brian Watwood informed us that the VA a SCI network is coordinated by hub centers with satellite clinics One of the main hubs Seattle SCI center has over 1 000 SCI patients receiving their medical treatment There are also a handful of processing centers that the V A employs to treat and reintroduce wounded veterans to society such as Walter Reed Center in Washington DC San Antonio Center in Texas and Long Beach CA These are all large medical centers catering to the rehabilitation of badly injured military personnel SCI Centers Fig 8 SCI C
4. V 28 to 18V lo 500mA Jr Vg 5V V 10V Vo 5V lb 500MA 1000 10000 f Figure 15 Line transient response C 25720 LOAD CURRENT C325730 5 10 15 20 25 30 vy 2 18 35 DocID2148 Rev 8 I TEXAS INSTRUMENTS LM340 N LM78xx www ti com SNOSBTO0J FEBRUARY 2000 REVISED DECEMBER 2013 LM340 N LM78XX Series 3 Terminal Positive Regulators Check for Samples LM340 N LM78xx FEATURES DESCRIPTION Complete Specifications at 1A Load The LM140 LM340A LM340 N LM78XXC monolithic Output Voltage Tolerances of 2 at T 25 C 3 terminal positive voltage regulators employ internal Per current limiting thermal shutdown and safe area and 14 Over the Temperature Range compensation making them essentially indestructible LM340A If adequate heat sinking is provided they can deliver e Line Regulation of 0 01 of Voyr V of AV at over 1 0A output current They are intended as fixed 1A Load LM340A e o in S WE Eu of ee o including local on card regulation for elimination o OARE JUANGO OI mOl Vout A EMSAUA noise and dist
5. CA 94539 TENERGY Tel 510 687 0388 opp www Tenergy com email sales tenergy com Amendment Records Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 2 of 4 Tenergy Corporation 436 Kato Terrace TE ERGY Fremont CA 94539 Tel 510 687 0388 Fax 510 687 0328 www Tenergy com email sales tenergy com 1 Outline This specification is suitable two serial cell Lithium ion Battery Protection circuit manufactured by Tenergy Corporation 2 Application Lithium ion rechargeable battery packs Lithium ion polymer battery packs 3 Electrical characteristics Over charge Protection Over discharge protection 4 PCM layout R5 cim mU mR Om mmu E EBAR A com m C1R1 C2R2 RYD 025 036 V1 0 P 2014 7 15 B Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 3 of 4 Tenergy Corporation 436 Kato Terrace TE ERGY Fremont CA 94539 Tel 510 687 0388 Fax 510 687 0328 www Tenergy com email sales tenergy com 5 Terminal explanations P Connected to the battery s output negative terminal and charger s negative terminal Ps Connected to the battery s output positive terminal and charger s positive terminal B Connected to the first battery s negative terminal B1 Connected to the first battery s positive t
6. 125 C LM7808C 0 C to 125 C 2 The maximum allowable power dissipation at any ambient temperature is a function of the maximum junction temperature for operation was 125 C or 150 C the junction to ambient thermal resistance 8 and the ambient temperature TA Pomax Tymax Tall If this dissipation is exceeded the die temperature will rise above T juAx and the electrical specifications do not apply If the die temperature rises above 150 C the device will go into thermal shutdown For the TO 3 package NDS the junction to ambient thermal resistance 8 A is 39 C W When using a heatsink 8 a is the sum of the 4 C W junction to case thermal resistance 0 c of the TO 3 package and the case to ambient thermal resistance of the heatsink For the TO 220 package NDE 0 4 is 54 C W and Oe is 4 C W If SOT 223 is used the junction to ambient thermal resistance is 174 C W and can be reduced by a heatsink see Applications Hints on heatsinking If the DDPAK TO 263 package is used the thermal resistance can be reduced by increasing the PC board copper area thermally connected to the package Using 0 5 square inches of copper area Oj is 50 C W with 1 square inch of copper area 8 als 37 C W and with 1 6 or more inches of copper area Oj is 32 C W Copyright 2000 2013 Texas Instruments Incorporated Submit Documentation Feedback 3 Product Folder Links LM340 N LM78xx LM340 N LM78xx SNOSBTO0J FEBRUARY 2000
7. 16 LEAD PLASTIC TSSOP 125 C Op 25 C W jc 8 C W m EXPOSED PAD PIN 17 IS OUT MUST BE SOLDERED TO PCB FRONT VIEW ll IN At gt gt II CONTROL 3 OUT 2L SET NC TPACKAGE 5 LEAD PLASTIC TO 220 Tymax 125 C Oya 40 C W Our 3 C W 12 Lead 4mm x 4mm Plastic DFN 0 10 ta 12 Lead 4mm x 4mm Plastic DFN ue 40 C to 125 C 40 C to 125 C 2 LT3083 ORDER INFORMATION LEAD FREE FINISH TEMPERATURE RANGE LT3083MPDF PBF 12 Lead 4mm x 4mm Plastic DFN 55 C to 125 C LEAD BASED FINISH TEMPERATURE RANGE LT3083EDF 12 Lead 4mm x 4mm Plastic DFN 40 C to 125 C eng Et LT3083IDF 12 Lead 4mm x 4mm Plastic DFN 40 C to 125 C T3060 C 125 LT3083MPDF 12 Lead 4mm x 4mm Plastic DFN 55 C to 125 C EE 55 to 125 Consult LTC Marketing for parts specified with wider operating temperature ranges The temperature grade is identified by a label on the shipping container For more information on lead free part marking go to http www linear com leadfree For more information on tape and reel specifications go to http www linear com tapeandreel ELECTRICAL CHARACTERISTICS The e denotes the specifications which apply over the full operating temperature range otherwise specifications are at T 25 C Note 2 PARAMETER CONDITIONS MIN TYP MAX UNITS SET Pin Current Iser Vin 1V VcontroL 2V oan IMA Ty 25 C 495 50 50 5 UA Vin 2 1V VeontroL 2 2V SMA lt li
8. 1A 1 39 mA lLoap SA 40 80 mA Current Limit Vin 5V VcowrRoL 5V Vser OV Vout 0 1V e 3 37 A Error Amplifier RMS Output Noise Note 6 oun 500mA 10Hz lt f lt 100kHz Cour 104 Cser Du H UVRMS Reference Current RMS Output Noise Note 6 10Hz lt f lt 100kHz a ae Dous Ripple Rejection dB VRIPPLE 9 9Vp p IL 0 1A Cser 0 1 pF 75 dB Cour 10uF dB 20 Thermal Regulation Iser 10ms Pulse EN 0 003 W Note 1 Stresses beyond those listed under Absolute Maximum Ratings Note 5 The Vcontro pin current is the drive current required for the may cause permanent damage to the device Exposure to any Absolute Output transistor This current will track output current with roughly a 1 60 Maximum Rating condition for extended periods may affect device ratio The minimum value is equal to the quiescent current of the device reliability and lifetime Note 6 Output noise is lowered by adding a small capacitor across the Note 2 Unless otherwise specified all voltages are with respect to Vor voltage setting resistor Adding this capacitor bypasses the voltage setting The LT3083 is tested and specified under pulse load conditions such that resistor shot noise and reference current noise output noise is then equal Ty Ta The LT3083E is 100 tested at TA 25 C Performance of the to error amplifier noise see the Applications Information section LT3083E over the full 40 C to 125 C o
9. Scholarship for Service student Abilities Skills e Programming Languages Java Verilog x86 Assembly PHP XML Python and HTML Currently learning C e Operating Systems Windows XP Windows 7 Linux and Mac OSX e Software MS Office jGrasp Xilinx ISE intelliJ Eclipse Altiris and Symantec Ghost e Organizational and Communication Skills o Communicated information effectively in a detailed step by step process that is understandable to any receiver through my written and oral skills that I learned through labs group work and multiple projects from my work experience o Acquired analytical and problem solving skills through hardware and software projects troubleshooting problems at work and different computer lab activities o lam exceptionally organized self motivated and dependable For example I am able to manage work projects and school projects and labs at the same time while always completing projects before the specified deadlines Job Experience e Department of the Army U S Army Corps of Engineers IWR HEC Dec 2013 Present o Student Trainee Computer Science Assisted the staff in Water Management Systems Division with programming assignments Supported components of CWMS Corps Water Management System Worked on scripting within the UNIX environment Or O O X Used programming languages such as Python and Java e OWP Office of Water Programs at Sacramento State University Mar 2013 Nov 201
10. V Marrion H Nina 2009 Apr One Arm Manual Wheelchair Worchester Polytechnic Institute Online Available https www wpl edu Pubs E project A vailable E project 043009 105716 unrestricted Wheelchair MQP 0 809 pdf Manual Pictures J Evangelista User 2015 Team Tijrw Pictures and Drawings 2015 K Robertson 2012 Mar Wheelchair Company Ramps Up Sales Efforts Sacramento Business Journal Online Available http www bizjournals com sacramento p rint edition 20 12 03 02 wheelchair company ups sales effort html page all M Brault Americans With Disabilities 2010 United States Census Bureau Online Available http www census gov prod 2012pubs p7 0 131 pdf Disability in America Disabled World Online http www disabled world com disability statistics american disability php Infographic Available D Walker 2013 Mar Spotlight on Cerebral Palsy 1 Cerebral Palsy and Aging Griswold Home Care Online Available http www griswoldhomecare com blog spotlight on cerebral palsy 1 cerebral palsy and aging Cerebral Palsy Hope Through Research National Institute of Neurological Disorders and _ Stroke Online Available 20 21 22 23 24 25 26 37 http www ninds nih gov disorders cereb ral palsy detail cerebral palsy htm 2690 03104 Health Care U S Department of Veterans Affairs Online Availabe http www va gov Infor
11. X USER MANUAL A System Overview The one arm Wijit wheelchair is a mobility device designed for the rehabilitation of people suffering from hemiplegia Propulsion 21 is achieved by applying force to a lever in a rowing motion and steering is achieved with a joystick control This device can benefit people with varying disabilities who have a need in a one arm wheelchair Besides the joystick control other steering control can be customized to the user s needs B Electronics and Caster Installation 1 Installing the Lever Arm Electronics a Secure the lids to the box with the provided screws The screw positions are shown in Figure 12 with blue circles around them 13 l Fig 13 Mounting Hole for Lever Arm 13 c Ensure that the charging port and switch are facing towards the rear of the wheelchair as shown in Figure 14 13 Fig 12 Screws for Lids on Lever Arm Box 13 b Using the provided screw line up the box with the hole on the inside of the lever arm that you will be using The screw is inserted into the bottom hole is shown in Figure 13 with a blue circle around it 131 Fig 14 Port and Switch on the Rear of the Lever Arm 13 d Use zip ties to secure the box to the lever arm by feeding the zip ties through the mounting holes on the bottom of the box as shown by the arrows in Figure 15 and tighten until snug 13 Fig 15 Zip Ties with Mounting Holes 13 e Use another
12. highlighted as important factors affecting mobility performance 9 The double push rim wheelchair shown in Figure 2 can be operated with one arm 10 One push rim is used to operate the right wheel and the other is used to operate the left wheel being connected to the axle of the left wheel The user needs to push both push rims for forward propulsion and individual push rims for steering As already mentioned this motion may lead to injuries but the biggest downside is that the user needs to provide energy to both wheels with one arm This may lead to even more strain on the arm especially in users with hemiparesis or hemiplegia Fig 2 Double Push Rim Wheelchair 10 Since manual wheelchairs can lead to injuries in people with healthy arms hemiplegic patients would be even more vulnerable to arm damage A lever driven wheelchair would be optimal for hemiplegic users who can use only one hand or have weak muscles and need exercise to prevent muscle atrophy This kind of system protects the user from pain and injuries caused by traditional manual wheelchairs It also provides the patient a great way to exercise and strengthen the upper body There are a few wheelchairs that are currently available in the market with single lever actuated systems However most of these options are permanently attached to the wheelchair when it is ordered This type of attachment may be undesirable to some because as the rehabilitation and
13. 15 Z1p Tios with Mounting Holst aiii 22 Figure 16 Spacers for Caster GOAT E 22 Figure 17 Ne gative Reverse aster e 27 Figure 18 Motor Mounted Ee 22 Figure 19 Motor Mounted Correctly and Alenced sse 23 L1ourc 20 C aster Electonics EE states 23 Figure 2T Correct Caster Electronics MOUNTE errante cenas 29 Figure 22 Motor and Electronics Connection uuu eee Adi 23 Figure 23 Fuse LOCH ON RR EE 24 Pour 24 Power ow Pinna CO iaa 25 P1oeute 25 Power Flow During User OPEL ia 26 Figure 26 Simulation of Servo Power Cceut 26 Figure 27 Simulation of User Interface Power Circuit sse eene 26 Figure 20 On Wale C Ode Flow Chari siii dictada 27 Figure 2 ODISSE Mera don A SSC MOY recreo meneame DEI SU IEEE 28 Figure 30 Birst Iteration Exploded VIEW si 29 Figure 31 First Iteration Bracket Left Caster Wheel sse eene 29 Figure 52 First Herati n Bracket Richt Caster Wheels ias 29 Figure 33 First Iteration Bracket End Left Rod Fork seen 29 Figure 54 First Iteration Lever ATM eate nacer o acu vue o ene Y eue vu eden b nae eu en id 29 Figure 35 First Iteration Right End Rod Pork csi e nein RYE des UEM AN 30 I39ure 20 5econd Iteration Pre Dent C ar ia 30 Figure 37 Second Iteration Motor Mount 30 Figure 38 Second Iteration Motor Front Fond 30 Figure 39 Second Iteration Motor Rear End on is 3l Figure 40 Third MHeration Motor Eet 3l Figure 41 Third Iteration Fully Assembled Drawing ooo
14. Hemiplegia Mobility Wijit Wheelchair Stroke Rehabilitation Table of Contents EE Ke OE Ince X a 1 Table Or COMO rt m mm 11 EE eg e OE CS O o e e E nea 111 ES C HE V E nm l SOUT ALE ODI CI E l DES e E E A E A A EA A T 4 Funding Droposals 8 Mark E 10 Ke ee 13 R E amo Db 93 e aaa 18 POTT race ha seco OP 19 eebe 20 IBI TG P roretiti Rit DEE 25 Hari OEC eres sae omes d EE asta nn oa edd RM IMMUNE UM ERN 25 DOLI d Ono enini PIE MISES MEME e o MENU DI ME 26 Mechanical Eege 28 Hardware West Pian and Results pets 31 Solares Test Plamangd Ie CSS na ads 33 COI as 34 EE ee ee ee ee PEDI IECIT NI DEMEURE UN MINE INE UNE UI ee 36 RTOS SA A A 38 o ARR TORRE A 39 111 List of Figures rl a ao e a O ee E 2 Ficure 2 Double Push sim W heele Dal rte 3 Figure 3 Invacare IVC vele Lever DAVE coseno aletas 4 Figure 4 Meyra Wheelchair Monodrtwe 4 Pour Ek Leer MEN 5 Fioure o Steon System DIOCK DIASTad sarmiento 5 Fiure Servo Connected TO pt 6 Figure 8 SCI Centers in the US 11 CUT 9 Work TCO EE eet 14 Esoure TO Milestones lo WO 17 Piro LL AMS Sees Wt O Mito 18 Figure 12 Screws Tor Lids on Lever Arm BOX sissccscsiscatsecatssrsnesseansesdedscavsdacadeecoiaantoaneesnwesieszcnesiaces 21 Fiene E Mounte Hole tor Lover A ista 21 Figure 14 Port and Switch on the Rear of the Lever Arm ccccsssssccccceeeeeeeeeeeeseseeeesessssnaaeaes 21 Figure
15. Often many skills have to be relearned Coordination of movements involving the use of the arms or legs is generally impaired due to the brain damage suffered during a stroke Rehabilitation may also involve teaching patients how to learn new skills or use new tools as is the case with patients suffering from post stroke paralysis 26 Paralysis such as hemiplegia is one of the many different forms of paralysis that may affect post stroke patients Rehabilitation providers can be both in home and out patient These providers make up a large portion of our market focus The focus of rehabilitation on exercise and acquiring the skills needed to promote the best possible recovery fall right inline with the sentiment behind the Wijit wheelchair design It is difficult to get exact data on just how many post stroke rehabilitation providers there are in the state of California let alone the country but the number is high based on a sample size such as the Sacramento area We found there to be about 85 listings for stroke or physical rehabilitation in the Sacramento area this excluded personal physicians and addiction services 27 The benefit of focusing on rehabilitation providers can be two fold Since a provider will most likely have multiple patients throughout a year the cost of a Wyit wheelchair designed for post stroke hemiplegia can be spread and perhaps better reach patients in need The other benefit is product exposure There
16. Online Available http www healthyalberta com 626 htm 11 N Vujicic Bio Life Without Limbs Online Available http www lifewithoutlimbs org about nick bio 36 M Boninger A Koontz S Sisto T Dyson Hudson M Chang R Price R Cooper 2005 Nov Pushrim Biomechanics and Injury Prevention In Spinal Cord Injury Recommendations Based On CULP SCI Investigations Journal of Rehabilitation Research amp Development Online 42 3 pp 9 20 Available http slayerwheels com contents en us Wheelchair 20Pushrim 20Biomecha nics 20and 20Injury 20Prevention pd f Wijit Innovations Health Online Available http www innovationshealth com produ cts wijit meet wi it F Medola P Dao J Caspall S Springle 2014 Mar Partitioning Kinetic Energy During Freewheeling Wheelchair Maneuvers IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING Online 22 2 pp 326 333 Available http 1eeexplore ieee org proxy lib csus e du stamp stamp jsp tp amp arnumber 6656 838 Glide One Arm Drive Wheelchair Alphacare Online Available http alphacare com au rehabilitation equipment wheelchairs hemiplegic wheelchairs glide one arm drive wheelchair 2003 Invacare IVC CLD nvacare IVC Manual Wheelchair Series Online Available http www invacare com product_files O 0 261 20rev 2010 03 pdf 12 13 14 15 16 17 18 19 D DiGiovanni
17. REVISED DECEMBER 2013 LM340A Electrical Characteristics lour 1A 0 C lt T lt 125 C LM340A unless otherwise specified 13 TEXAS INSTRUMENTS www ti com Output Voltage 5V 12V 15V Symbol Input Voltage unless otherwise noted 10V 19V 23V Units Parameter Conditions Min Typ Max Min Typ Max Min Typ Max Vo Output Ty 25 C 4 9 5 5 1 11 75 12 12 25 14 7 15 15 3 V voltage Pp lt 15W 5 mA lo s 1A 4 8 52 115 12 5 144 156 V Vmin lt Vin Vax 7 5 lt Vin lt 20 14 8 s Vin 27 17 9 s Vin lt 30 V AVo Line lo 500 mA 10 18 22 mV Regulation ay 7 5 lt Vin lt 20 14 8 lt VN lt 27 17 9 lt Vin lt 30 V Ty 25 C 3 10 4 18 4 22 mV AVIN 7 5 lt Vin lt 20 14 5 lt Vin lt 27 17 5 lt Vin lt 30 V Ty 25 C 4 9 10 mV Over Temperature 12 30 30 mV AVIN 8 lt Vin lt 12 16 s Vin lt 22 20 s Vin lt 26 V AVo Load Ty 5 mA lt lo lt 1 5A 10 25 12 32 12 35 mV Regulation 25 C 555 mA lt lo lt 15 19 24 mV 750 mA Over Temperature 25 60 75 mV 5 mA lt l lt 1A la Quiescent Ty 25 C 6 6 6 mA Current Over Temperature 6 5 6 5 6 5 mA Ala Quiescent 5 mA lt l s 1A 0 5 0 5 0 5 mA Sande T 2 25 C lo 1A 0 8 0 8 0 8 mA Vmin lt Vin Vax 7 5 lt Vin lt 20 14 8 s Vin lt 27 17 9 s Vin lt 30 V lo 500 mA 0 8 0 8 0 8 mA Vmin lt Vin Vax 8 lt Vin lt 25 15 s Vin lt 30 17
18. Switch responding poorly debouncing The mitigation and elimination of this risk can be done using software to ensure proper responsiveness of a switch Wiring damage due to lever movement The wire should be sturdily attached to the switch circuit and should have a length that is proper for the movement It should also be made easy to access the wire inside the lever handle for maintenance purposes Casters pointing in different directions sensors and servo feedback information will be used to ensure the proper turning of the servo make sure the servo returns to the default straight position 2 Software Failure Delays In System Response some aspects can be solved in the coding Other aspects should be studied and tested Bugs in software The best idea is to use software which 1s the most bug free and to use standard programming practices 3 Human Failure Procrastination Careful planning and motivation from team leader can eliminate this problem Setting up due dates that must be met setting up due dates that are a little early to be safe and meet the actual due dates Major team member illness leaving the team This 1s highly unlikely since our team bonded well but this will not have a too large impact since we have five people in the team Proper distribution of tasks 1s a possible mitigation Unexpected damage in critical design parts Collaborating with the team and not taking risky steps in the design Bre
19. as analog inputs a 16 MHz crystal oscillator a micro USB connection an ICSP header and a reset button lt contains everything needed to support the microcontroller simply connect it to a computer with a micro USB cable to get started The Micro is similar to the Arduino Leonardo in that the ATmega32u4 has built in USB communication eliminating the need for a secondary processor This allows the Micro to appear to a connected computer as a mouse and keyboard in addition to a virtual CDC serial COM port It also has other implications for the behavior of the board these are detailed on the getting started page The Arduino Micro has been co designed with Adafruit Technical specification Microcontroller ATmega32u4 Operating Voltage 5V Inout Voltage recommended 7 12V Inout Voltage limits 6 20V Digital I O Pins 20 PWM Channels 7 Analog Input Channels 12 DC Current per I O Pin 40 mA DC Current for 3 3V Pin 50 mA Flash Memory 32 KB ATmega32u4 of which 4 KB used by bootloader SRAM 2 5 KB ATmega32u4 EEPROM 1 KB ATmega32u4 Clock Speed 16 MHz Advance Information might still be subjected to change TENERGY Specification Approval Sheet Name Protection Circuit Modules Model 32005 SPEC PCM F7 4V 5 11A File Number Project Customer Company Name o 436 Kato Terrace Fremont CA 94539 U S A Tel 510 687 0388 Fax 510 687 0328 www lenergy com Tenergy Corporation 436 Kato Terrace
20. classes ability to test and verify the behavior of basic circuit elements using electronic laboratory devices such as an oscilloscope function generator and AC DC power supply Projects e Senior Design Project Designing and developing a wheelchair for single armed users The team will use the Wijit Driving and Braking system to convert a standard manual wheelchair The project will include designing electronically controlled casters on a single wheel to steer the chair and the use of a 3D printer to produce parts The chair will allow otherwise isolated wheelchair users increase mobility and independence The multi disciplined team will incorporate Electrical Electronics and Biomedical Engineering concepts to transform the Wijit driving and braking system to a more durable propulsion system for single armed wheelchair operators The project will include delivery of complete documentation and formal presentation e Member of Two Designed a logic circuit that will simulate an auto burglar alarm using several logic control gates A function generator was added to provide a signal and the output was reflected on an LED e Individual Project Wrote a vending machine program in C which prompts the user to make the desired selection of items and efficiently provide change for each transaction using the least number of coins e Member of Four Full Wave Rectified Turbine Motor Voltage Sampled ADC with Voltage Display The group built an Arduino bas
21. experiencing Type 2 diabetes high blood pressure or coronary heart diseases 5 Health issues on top of the disability will surely have a negative effect on a disabled person both physically and emotionally The depression rates are higher for people with disabilities Not having a positive attitude towards recovery might lead the person to giving up on recovery and risk having other health issues When a person has a problem that person should be motivated by others to be active and independent Having a positive attitude when struggling with something is a much better and less painful way to resolve the problem There are many examples of how mobility and independence can help a disabled person have a life full of fun and meaning An example of this is an Australian born man Nick Vujicic Nick was born without legs and arms but that did not stop him from living to the fullest 6 Of course he had times of depression but his faith and the ability to do as much things as he could made his life fun and active Not having any limbs did not stop Nick from learning to swim play golf drive an electric wheelchair get married and have a child and perform many other activities The example of this man truly shows that independence and mobility can give hope to the disabled and help in their recovery In his case Nick uses an electric wheelchair for mobility but that alone would not let him be who he is today Apart from moving around
22. fail to make it easier on the patient With our product we try to address this issue of one arm rehabilitation with the assistance of the Wu Driving and Braking System The Wijit wheelchair has proven to be 13 efficient easy to transport comfortable and helpful in the regeneration of neuromuscular connections People that use the Wijit praise it for the mobility they attain with it and the exercise that they get while driving it around Shoulder joint and wrist injuries which resulted from standard manual wheelchair use are not a problem with the Wyit Incorporating electric steering into the Wijit for one arm propulsion the team hopes to help in the rehabilitation of hemiplegics There are many cases of hemiplegics rehabilitating to the point where they can again walk and perform basic tasks with their paralyzed side The one arm Wit design can be very beneficial in this rehabilitation process The product being designed is at first intended for use in a clinical setting for hemiplegic rehabilitation The target patients for this wheelchair are people aged 50 and above as well as veterans The geriatric population needs rehabilitation and a comfortable mobility solution since exercise 1s very important at that age and the risk of getting more injuries is pretty high War Veterans definitely deserve only the best to help them adapt back to normal life and change the focus from their injuries to the opportunities ahead of them due
23. gap lt 3A Note 9 49 50 91 Output Offset Voltage Vor Ver Vos DF FE Packages 0 3 mV Vin 1M Voontrot 2V li oap 1mA 4 0 4 mV T Q Packages 4 0 4 mV 6 0 6 mV Load Regulation DE FE Packages Alset Aligap 1mA to 3A 10 nA AVos AlLoan DMA to 3A Note 8 0 4 mV Load Regulation T Q Packages Alser AlLoap 1mA to 3A 10 nA Ans Aligap OMA to 3A Note 8 0 7 4 mV Line Regulation DE FE Packages Alser AViy 1V to 14V AVcowrnor 2V to 25V l gap 1mA 0 1 nan AVos AViy 1V to 14V AVcowrnor 2V to 25V li gap 1mA 0 002 0 01 mV Line Regulation T Q Packages Alser AVin 1V to 23V AVoontRoL 2V to 25V li gap 1mA 0 1 nA V AVos AViy 1V to 23V AVoontRoL 2V to 25V li gap 1mA 0 002 0 01 mV Minimum Load Current Notes 3 9 Vin 1V VeontroL 2V 390 900 UA Vin 14V DF FE or 23V T Q VeontroL 25V 1 mA 3083fa AL MYR 3 LT3083 ELECTRICAL CHARACTERISTICS The denotes the specifications which apply over the full operating temperature range otherwise specifications are at TA 25 C Note 2 PARAMETER CONDITIONS UNITS VeontroL Dropout Voltage Note 4 lLoap 100mA ligap 1A i gt y Loan 3A 1 25 V Vin Dropout Voltage Note 4 Ioan 100mA FI A 2 mV lLoan 1A Q T Packages a 190 mV lLoap 1A DE FE Packages 160 mV ligAD 3A Q T Packages 310 510 mV l_oAD 3A DE FE Packages 240 420 mV VeonrtroL Pin Current Note 5 lLoap 100mA 10 mA lLoap
24. judgments and reaching conclusions which require specific action Work Experience Performance and Interoperability Engineer PMC Sierra 5 14 8 14 Worked directly with the Interoperability Test Lab ITL team to help test hardware and software compatibility Developed code to automate compatibility test for ITL Ran performance benchmarks and helped develop scripts used in automating performance measurements Helped diagnose replicate and troubleshoot hardware and software issues that affect HW SW compatibility Information Technician California State University Sacramento 9 13 Present Replaced or upgraded hardware and installed software in labs Worked on server maintenance back up and data storage Project Experience Senior Project Lead California State University Sacramento 9 14 Present With a team of four designing and developing a wheelchair for single arm users The team will use the Wijit Driving and Braking System to convert a standard manual wheelchair The project will include designing electronically controlled casters on a single wheel to steer the chair and the use of a 3D printer to produce parts The chair will allow otherwise isolated wheelchair users increased mobility and independence The multi disciplined team will incorporate Electrical Electronics and Bio Medical Engineering concepts to transform the Wijit driving and braking system to a more durable propulsion system for single arm wheelchair operators The project
25. on the wheelchair he is involved in many tough activities which use his whole body and provide a great workout An electric wheelchair can solve the mobility problem of hemiplegic people but it is not hard to imagine that not many disabled people have so much motivation to get out of the wheelchair and be involved in other physical activities That is why it would be great to have a mobility device that provides some physical activity to hemiplegics without having to get out of a wheelchair C Solution Choices In finding a solution to the problem of mobility for hemiplegic patients it is important to have a wheelchair that does not bring more harm or injury to the user but contrastingly helps in the rehabilitation and recovery process Over 50 percent of manual wheelchair users with spinal cord injury SCI are likely to develop upper limb pain and injury 7 This is a statistic for users with spinal cord injury but the motion of pushing the wheels required to operate a manual wheelchair can lead to stress injuries of shoulders elbows and wrists 8 Maneuvering a manual wheelchair requires applying force to the hand rims in a repetitive motion that in the long term can lead to upper limb overuse injuries Several studies have shown high prevalence of upper limb injuries among manual wheelchair users and the importance of muscular strength 3 and endurance proper biomechanics and the uses of suitable wheelchairs have been
26. project Discussing the project to the senior project group was informative and our team enjoyed hearing about your vision to help rehabilitate hemiplegic patients Your knowledge and insight on the wheelchair really helped us progress along with the project We are convinced that our team will complete this project in a way that you have envisioned 1t or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear Dennis Dahlquist Thank you so much for offering us your priceless ideas for the project and always leading us in the correct direction Your humor and approach to the project made the design a lot less stressful We really appreciate the time that you contributed to our team Also big thank you for not giving us all the answers but making us think and feel like we re doing real engineering Sincerely 41 Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear Warren Smith Thank you again for getting in contact with our industry sponsor for this project Presenting us with initial ideas that lead to our project really gave us an idea of what direction we wanted to head towards We are convinced that our team will complete this project in a way
27. recovery process moves along they may not need it anymore If that were the case the user would have to buy a brand new wheelchair to replace the one with the permanently attached system A more modular design is desirable in many cases for transportation and for storage The wheelchair shown in Figure 3 is one of the available lever actuated one arm wheelchairs 11 It 1s the Invacare IVC CLD Cyclical Lever Drive which includes a front caster steering mechanism simple rowing motion design and adjustability in height and stroke length of the lever In this design twisting the lever clockwise for right turns and counter clockwise for left turns allows steering A video of a patient with a weak arm operating this wheelchair revealed that the motions of moving the arm forwards and backwards for propulsion and the twisting motion for steering can conflict with each other in users with arm weakness The user had a difficult time going straight and avoiding bumping into walls Thus this design might be uncomfortable for users with arm weakness Fig 3 Invacare IVC Cycle Lever Drive 11 4 Another solution having a very similar concept is the Meyra Monodrive Wheelchair shown in Figure 4 12 In this wheelchair propulsion and steering are accomplished in the same way but braking is accomplished by moving the lever to the extreme forward or backward position 12 This braking approach would possibly work for many people who have
28. servomotor to tell if 1t has turned correctly and if not tries to turn again to the correct position Additionally the ReadIn code has a check to make sure that the wireless communication with the XBee module is working and if it is not working alerts the user with a buzzer sound B Flow Chart Out iul eadin bf 4 A TE Yes Yes Yes Send R Miretessty via XBee Read in Character v No p Yos Send D firetessly na XBee cies ves Send L Mirelessly via XBee vez Tum Motor umed Yos Straight Straight y ic L No Yes Turn Motor Yes m Left 4 D m Fig 28 Software Code Flow Chart 29 C Pseudocode 1 WriteOut SET LR to 0 variable for the position of the joystick void setup d SET Serial begin to 9600 SET Seriall begin to 9600 For arduino micro j void loop d READ pin AS SET LR to read value Adjust LR range values for return to center sensitivity IF Seriall 1s TRUE IF LR lt 516 AND LR gt 500 Zi PRINT D to Seriall SET delay to 10 ELSE IF LR 1032 AND LR gt 516 PRINT L to Serial SET delay to 10 ELSE IF LR lt 500 AND LR gt 0 PRINT R to Serial SET delay to 10 END IF END IF j 2 ReadIn include lt Servo h gt SET servo to servol SET msg to Var for message sent via xbee serial SET voltl to 0 Variable for feedback voltage from pot SET speakerOut to 6 for
29. side of the body Hemiparesis is very similar to hemiplegia and the name is often used interchangeably but it 1s more of a partial paralysis or weakening of the muscles 3 Figure 1 illustrates the effects of hemiplegia on the human body 4 f j j j j t 4 Arca of body affected j El Site of damage n gt Fig 1 Hemiplegia Illustration 4 When a person has a stroke it may be caused by a blood clot near the brain or a burst artery in the brain area This cuts off blood carrying oxygen to the brain and often results in the death of brain cells The paralysis hemiplegia is caused by this death of brain cells In patients with hemiparesis the brain cells are also damaged but to a lesser extent Hemiplegia also can occur in children at birth This can happen because of either an accident which brings damage to the child s brain inside the womb or the baby being born with a damaged brain When the left side of the brain is damaged the right side of the person is paralyzed and if the right side is damaged then the left side of the body is paralyzed A solution for active mobility is very important for these patients because they are growing and need to be physically active to be healthy and grow normally The Wijit wheelchair system primarily emphasizes on the rehabilitation of quadriplegic and diplegic adults Since hemiplegics are paralyzed on one side of the adult body it is very difficul
30. the controller Power supply must be able to source and sink current surges It is recommended to put a 12V battery in parallel with the power supply to buffer surges e Control Signal 0 5VDC analog or pwm On units with RC connector white conductor is pwm signal black conductor is ground On units with 4 conductor cable bundle green is signal ground and white is pwm signal 5 2 OUTPUT Machined metal horn provides output interface with tapped 10 32 holes for attachment 5 2 1 Servo Travel All servos are mechanically capable of at least 270 degrees of total travel The following servos are capable of multi turn travel up to 9 75 turns Note that position control resolution is reduced with larger travel The housing for these units is larger Refer to figure 2 Torque Cont Torque Peak Travel deg Time for 90 deg 04050 1600 3200 990 Position 15 10441 i04060 1600 990 Position om 5361 i04290 1600 3200 3510 1044 1 i04291 1600 3510 536 1 6 DRAWING All dimensions in inches The information contained in this document is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 4X 5 257 THRU SHOWN WITH REMOVABLE 125 THICK SPACERS Figure 1 Standard Torxis The informa
31. the user pulls the lever in towards him However this would cause the other wheel not connected to the Wyit lever to spin freely and make the user spin To avoid this it is proposed that when the braking is initiated by pulling in the lever the position of the controlled front caster will stay in a fixed straight position The design has the caster default position as straight and thus the user would not need to do any extra thinking when braking besides pulling in the lever Also since the front caster is controlled by the motor at all times the chair would not swerve when applying the brakes even while making turns This design is a unique addition to the Wijit system because there is no product that combines wireless steering and braking control with a one 6 armed Wijit system There is the two armed Wijit system but that requires a person to have control of both of their arms to drive brake and steer Additionally there are electric wheelchairs but those designs do not allow a person to exercise or perform therapy with arm movements of a lever Mechanical one hand wheelchairs that also use the lever approach exist but they require the user to turn the lever left and right while pushing it forward and back for propulsion These devices are not very comfortable for users with weak arms and can even be unsafe The following sections present the five main features in the design and reflect the planning process of the de
32. to a great wheelchair To be able to reach out to these people who desperately need an_ effective mobility device it 1s important to demonstrate the benefits of the one arm Wijit to VA clinics Physical Therapists Family Physicians Occupational Therapists and rehabilitation centers VI WORK BREAKDOWN STRUCTURE The work required to complete this project is split up into the main features and the tasks that needed to be accomplished for proper implementation of those features A clear map of the project tasks and procedures is essential to good planning of the project A chart showing the project from a top level and going into detail with a downward flow 1s a great tool for project planning and progress evaluation The team used Power Control User Free Wheel Wireless System Interface Mode Communication this method in both semesters The Work Breakdown Chart for our project is shown in Figure 9 14 This chart reflects the basic structure developed in the first semester and is updated with the tasks for both semesters One Arm Wijit Wheelchair Motor Sensor Feedback Steering Gear Wireless Batt Control Modules Power Motor Joystick Distribution Mounting Communic Power Communication Weight Servo Regulation to Distribution Communic Mic ntroller roco Caster Power Possible Failsafe Behavior Torque m Interference Calibration Research Battery Charging Fig 9 Work Breakdown Chart 14 The main tasks outlined
33. to ambient thermal resistance 8 yA is 39 C W When using a heatsink 8 a is the sum of the 4 C W junction to case thermal resistance 0 c of the TO 3 package and the case to ambient thermal resistance of the heatsink For the TO 220 package NDE 0 4 is 54 C W and Oe is 4 C W If SOT 223 is used the junction to ambient thermal resistance is 174 C W and can be reduced by a heatsink see Applications Hints on heatsinking If the DDPAK TO 263 package is used the thermal resistance can be reduced by increasing the PC board copper area thermally connected to the package Using 0 5 square inches of copper area Oj is 50 C W with 1 square inch of copper area 8 als 37 C W and with 1 6 or more inches of copper area Oj is 32 C W ESD rating is based on the human body model 100 pF discharged through 1 5 kQ Operating Conditions 1 Absolute Maximum Ratings are limits beyond which damage to the device may occur Operating Conditions are conditions under which the device functions but the specifications might not be ensured For ensured specifications and test conditions see the Electrical Characteristics Submit Documentation Feedback Copyright 2000 2013 Texas Instruments Incorporated Product Folder Links LM340 N LM78xx 13 TEXAS INSTRUMENTS LM340 N LM78xx www ti com SNOSBTO0J FEBRUARY 2000 REVISED DECEMBER 2013 Operating Conditions continued LM140 55 C to 125 C Temperature Range Tal LM340A LM340 N 0 C to
34. voltage of 6 5v 28 The schematic in Figure 27 shows a LM7805 linear regulator The LM7805 1s the on board regulator used by the Arduino Micro to create it s required 5v supply XII SOFTWARE A Overview Software is a major component of our system The software used is programmed on the Arduino Micros that allow for serial and wireless communication with XBee modules There are two major pieces of code that are called WriteOut and ReadIn The process in which the hardware and software interact 1s conceptualized in the form of a flow chart as seen in Figure 28 29 The WriteOut code is uploaded to the Arduino Micro that is connected to the lever arm electronics assembly while the ReadIn code is uploaded to the Arduino Micro that is connected to the caster electronics assembly The WriteOut code is responsible for interpreting the position of the joystick which is located in the lever arm electronics assembly and from that position it sends a data character over serial to the XBee module Then the data character is sent wirelessly to the caster electronics assembly The other XBee module located in the caster electronics assembly receives this data character and it 1s transmitted over serial to the Arduino Micro The ReadIn code then interprets this data character and sends a pulse width modulation signal with the Arduino servo library to the servomotor to turn it in the correct direction A feedback signal is used from the
35. 0 687 0328 www Tenergy com email sales tenergy com 7 Terminal explanations 7 1 B Connected to the fourth battery s positive terminal 7 2 Bit Connected to the third battery s positive terminal 7 3 Bit Connected to the second battery s positive terminal 7 4 Bl Connected to the first battery s positive terminal 7 5 B Connected to the first battery s negative terminal 7 6 P Connected to the battery s output or the charger s positive terminal 7 P Connected to the battery s output or the charger s negative terminal Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 4 of 4 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 1 PRODUCT DESCRIPTION This Torxis servo is a high torque DC powered intelligent motor It accepts position commands from standard Hobby Radio Control units or microcontrollers and then moves to the commanded position It provides up to 3200 oz in of torque 2 APPLICATIONS Hobby Projects Robotics Toy Vehicle Control Camera Control Remote Instrumentation 3 FEATURES Up to 3200 oz in of torque opeeds as quick as 60 degrees in 500 ms Available in standard red housing and rugged sealed black housing configurations Available with pwm or analog control input Available in position or velcity controlled versions Mechanically ca
36. 14 2015 November Va 2014 2015 2015 Completion of Completion of User Interface Power System Feature and Motor Mount Fig 10 Milestones Flowchart 14 Summing the total hours worked by each member throughout the design Jonathan Evangelista spent 510 hours Julio McClellan spent 264 hours second semester only Bogdan Svityashchuk spent 448 hours Steven Trinh spent 587 hours Xiaomeng Zhang spent 496 hours For the entire project a grand total of 2305 hours were worked VII RISK ASSESSMENT AND MITIGATION A Possible Risks 1 Hardware Failure e Wireless Communication Interference e Stress On the Servos e Not Enough Battery Life e Unexpected damage in critical design parts ex overheating e Switch responding poorly debouncing e Wiring damage due to lever movement e Casters pointing in different directions 2 Software Failure e Delays In System Response e Bugs in software 3 Human Failure e Procrastination e Major team member illness leaving the team e Unexpected damage in critical design parts e Breadboard circuitry eg wiring wrong pin etc 4 Organizational Failure e Spendings Exceeding Budget e Not Making the Due Dates e Inconsistent with our original design idea e Poor time management 5 External Failure e Unexpected damage in critical design parts Throughout the two semesters the team put together the risk assessment chart shown in Figure 11 This chart was updated throughout the life of the project F
37. 3 Student Assistant IT Software Developer Hardware Support Assisted the IT technical support staff with web development and hardware support related projects Worked with other programmers to test and develop code vital to the operation of OWP O O O Worked with hardware support to maintain the computers and peripherals at OWP o Used programming languages such as PHP and JavaScript e SMUD Sacramento Municipal Utility District Mar 2012 Mar 2013 o Student Staff Assistant for IT Department Hardware Support Group o Supported the IT hardware staff with multiple computer related issues such as Ergonomics Break Fix computers servers printers and scanners reimaging computers and troubleshooting problems such as through the BIOS throughout the SMUD district o Used the Altiris ticketing system and database to keep records of the work that was performed and make sure all equipment was accounted for Honors and Awards Received e Achieved Dean s Honor Roll at Sacramento State e Awarded John C Gist Book Scholarship Fall 2011 e Awarded OSE Organization of SMUD Employees Scholarship Fall 2012 e Awarded Engineering General Scholarship of CSUS Fall 2013 e Awarded Henry T Roche Memorial Scholarship Fall 2014 e Awarded CyberCorps Scholarship for Service SFS Fall 2013 Spring 2015 Julio A McClellan Email judog44 hotmail com Objective A position in the field of controls with an emphasis in prototyping Educatio
38. 75 90 uV Voltage kHz AVin_ Ripple f 120 lo lt 1A Ty 68 80 61 72 60 70 dB AVouT Rejection Hz 25 C or lo lt 500 mA 68 61 60 dB 55 C lt Tj lt 150 C VMIN lt VIN lt VMAX 8 lt VIN lt 18 15 lt VIN lt 25 18 5 lt VIN lt 28 5 V Ro Dropout Ty 25 C lo 1A 2 0 2 0 2 0 V Voltage Output f 1 kHz 8 18 19 mO Resistance Short Circuit Ty 25 C 2 1 1 5 1 2 A Current Peak Output Ty 25 C 2 4 2 4 2 4 A Current Average TC of 0 C lt Tj lt 150 C lo 5 0 6 SL 1 8 mV C Vout mA 1 All characteristics are measured with a 0 22 uF capacitor from input to ground and a 0 1 uF capacitor from output to ground All characteristics except noise voltage and ripple rejection ratio are measured using pulse techniques ty lt 10 ms duty cycle lt 5 Output voltage changes due to changes in internal temperature must be taken into account separately Copyright 2000 2013 Texas Instruments Incorporated Submit Documentation Feedback Product Folder Links LM340 N LM78xx 5 LM340 N LM78xx SNOSBTO0J FEBRUARY 2000 REVISED DECEMBER 2013 LM140 Electrical Characteristics continued 55 C lt Tj lt 150 C unless otherwise specified IA TEXAS INSTRUMENTS www ti com Output Voltage 5V 12V 15V pe Input Voltage unless otherwise noted 10V 19V 23V Units Parameter Conditions Min Typ Max Min Typ Max Min Typ Max VIN Input Voltage Ty 25 C lo s 1
39. 8 4001 Riverside 3E UNLESS OTHERWISE SPECIFIED NAME DATE Bracket Right End Rod Folk DIMENSIONS AREN INCHES DRAWN M Peri 3 14 2015 TOLERANCES TIE FRACTIONAL 41 32 CHECKED TWOPACEDECMML ae DD AP PERRO eeng Motor Mount a 7 3 7 3 7 i ROPA AD COBRA cla THE FORMATION CONTARIED Pi THES WATERAL COMMENTS DRAWING E THE OLE PROPERTY OF Aluminum SIZE DWG NO REV BCR COMPANY NAME MESE gt C PROMETO APPLICATION DO NOT SCALE DRAG SCALE 1 2 WEIGHT SHEET 1 OF 1 Fig 35 First Iteration Right End Rod Fork 30 SS m en moat A 3 l Fig 37 Second Iteration Motor Mount 30 0 55 1 50 0 55 12 00 Si o S cal m 1 30 es 300 d 9 o gt lt nor gt 40 S 0 50 EN A 3 00 4 50 ER SS 2 0 3 YO O OO Sa 6 00 63 0 30 030 Za l gg a O e M i wc H p CI Cep A i i i OO L i i o A t i d j i Le A 1 i gt P 43 3 be SS e S e 5 X 2 00 e 63 5 38 63 Leg e UNLESS OTHERWISE SPECIRED NAME DATE UNLESS OTHERWISE SPECIFIED DA hat DIMENSONS ARE IN INCHES DRAMA P Sopnaty 39 15 M m i aana TOLERANCES 001 DIMENSIONS ARE IN INCHES DRAWN gt 1 FRACTIONAL 1 22 CHECKED TITLE TOLERANCES S TITLE ANGULAR MACH 3 BEND tI puc APPR FRACTIONAL SI 22 CHECKED Ss RACE DECIMAL 4 201 ASTER ANGULAR MACHS EIDO FNG Ae MEG APPR TWO PLACE DECIMAL 150 ee e E E yc am Motor Front End PROPRIETARY AND CONMDE
40. 9 lt Vin lt 30 V VN Output Noise TA 25 C 10 Hz f lt 100 40 75 90 uV Voltage kHz Ripple Ty 25 C f 120 Hz lo 68 80 61 72 60 70 dB _AVin_ Rejection 1A AVour or f 120 Hz lo 500 mA 68 61 60 dB Over Temperature Vmin lt Vin Vax 8 lt Vin lt 18 15 s Vin lt 25 18 5 s Vin lt 28 5 V Ro Dropout Ty 25 C lo 1A 2 0 2 0 2 0 V Voltage Output f 1 kHz 8 18 19 mO Resistance Short Circuit Ty 25 C 2 1 1 5 1 2 A Current Peak Output Ty 25 C 2 4 2 4 2 4 A Current Average TC Min Ty 0 C lo 5 mA 0 6 SC 11 8 mV C of Vo Vin Input Voltage Ty 25 C Kenia e 7 5 14 5 17 5 V Regulation 1 All characteristics are measured with a 0 22 uF capacitor from input to ground and a 0 1 uF capacitor from output to ground All characteristics except noise voltage and ripple rejection ratio are measured using pulse techniques ty lt 10 ms duty cycle lt 5 Output voltage changes due to changes in internal temperature must be taken into account separately 4 Submit Documentation Feedback Copyright 2000 2013 Texas Instruments Incorporated Product Folder Links LM340 N LM78xx 13 TEXAS INSTRUMENTS www ti com LM140 Electrical Characteristics 55 C lt T 150 C unless otherwise specified LM340 N LM78xx SNOSBTO0J FEBRUARY 2000 REVISED DECEMBER 2013 Output Voltage 5V 12V 15V pe Input
41. A ee 7 5 14 6 17 7 V Regulation LM340 N Electrical Characteristics 0 C lt Tj lt 125 C unless otherwise specified Output Voltage Input Voltage unless otherwise noted Conditions T 25 C 5mA lt lo lt 1A Pp lt 15W 5 mA lt ly s 1A Vmin Vin Vax Parameter Output Voltage Line Regulation 5 mA lt lo lt 1 5A 250 mA lt lo lt 750 mA 5 mA lt lo 1A 0 C lt T lt 125 C Load Regulation Quiescent Current 5 mA lo 1A T 25 C lo lt 1A Quiescent Current Change lo lt 500 mA 0 C lt Ty lt 125 C Vmin Vin Vmax TA 25 C 10 Hz lt f lt 100 kHz Output Noise Voltage lo 1A Ty 25 C or lo lt 500 Ripple Rejection 4 7 11 4 12 6 14 5 Vin lt 27 5 5 25 7 5 Vin 20 14 5 lt Vy 30 120 15 lt Vy 27 120 14 6 lt Vin s 27 60 8 lt Vi 12 16 lt Vy lt 22 7 5 Vin 20 1 0 14 8 lt V 27 1 0 7 lt Vin 25 14 5 lt Vin lt 30 8 lt V lt 18 15 lt Vy 25 14 25 15 75 17 5 lt Vy lt 30 150 17 5 lt Vy lt 30 150 18 5 lt Vy lt 30 150 17 7 lt Vy 30 75 20 lt Vin lt 26 17 9 lt Vy lt 30 1 0 17 5 lt Vy lt 30 18 5 lt Vin lt 28 5 1 All characteristics are measured with a 0 22 uF capacitor from input to ground and a 0 1 uF capacitor from output to gr
42. C Python and Linux De Raspbian 3 Who will do what Jonathan will be the main programmer as he is a Computer Engineering major and will deal with the microcontroller interfacing Steven will help with the electrical engineering aspects such as making sure the correct amount of voltage and current are used to achieve proper controls for the user 4 Estimated total number of hours 100 5 Outcome We will determine that this feature is working correctly by first testing that we are able to communicate with both microcontrollers wired Then we will make sure that the Xbee or wi fi modules themselves work to transmit signals from the arm to the servos We will then perform more tests of the wireless communication on breadboards before actually attaching them to the wheelchair After this testing is complete we will test the microcontrollers with the wireless modules on the wheelchair and ensure that the user is able to turn and that the wheels turn according to the switch or buttons in the arm Servo and Sensor Feedback System 1 Hardware 2 microcontrollers such as the Arduino Parallax Propeller Raspberry P1 or Beaglebone 2 Xbee shields modules or wi fi dongles three position switch up to 2 servos motors Wijit arm 2 front wheelchair casters battery 2 Software Depending on the microcontroller platform the software that will be used will be a combination of the following the open source Arduino environment C
43. End of Project Documentation One Armed W1ij1t Wheelchair Electronic Steering Assistance CpE 191 EEE 193B Professor Russell Tatro Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Xiaomeng Zhang Abstract The Wij1t wheelchair represents a great advancement in modern wheelchair design Instead of directly pushing the wheels of the chair with their hands patients propel themselves through the use of two levers integrated into the hub of each wheel The use of levers to propel the wheelchair provides patients with a better ergonomic position while still allowing for the physical exercise associated with a manual wheelchair It is the goal of our team to bring the benefits of exercise and the Wiit wheelchair to patients who suffer from hemiplegia or other debilitation that affects one side of the body and limits them to the use of one arm Our team has designed a wireless electronic steering assist system which adds a limited amount of weight of 7 125 lbs to an existing clinical wheelchair to enable the use of the Wiyit wheelchair by those who only have the use of one arm Our system does have its limitations such as only working on ramps that have an incline of 3 to 5 degrees and only operating on surfaces such as cement asphalt and linoleum style floors However with these limitations this system provides a viable way for patients with one usable arm to achieve neuromuscular rehabilitation and mobility Keyword index
44. NTIAL TOUBRANCING PER Seege E GA Lane y MATA o Alums SZE DWG NO REV PROPEMTARY AND CONPDENT AL TOLERALOING PES COMMENTS MEI COMPANY WANE HERES anit minum 3 SE DUNCAN CONUM arms MATERIAL SUE DWG NO REV ICONO n d und a Wen B L PROPTETY O de OB AS A MOLE EXT assy uso Oe smooth cade COMPANY NANE HERE 4 bien Aluminum a o AY Hi gt vsevcOuUC IN PLE d 2 ew APPUCATOH DO NOT SCALE Dt wi SCALE 1 4 WEIGHT SHEET OF 1 Geer NEXT assy USED On Smooth d C ant 5 4 3 2 AS DO NOT SCALE team SCALE 1 1 WEIGHT SHEET OF Fig 36 Second Iteration Pre bent caster 30 Fig 38 Second eran Motor End 30 IA El a NS e in Su a O ms E 0 4 1 50 N NI NS e e a d SS sa A NS hy d i d bi M i NS NS NS AN TY NS SE ha Mo O We Y i To bu SS NS ay d CN la ig N e CH V Ma gt Ho M X Ve NAY oy e J Se gt 0 30 2 00 0 30 e m d i i L EN a EE 2 j i NDA uu O 1 i J i Or Ze ur E UNLESS OTHERWISE SPECIFIED NAME DATE DIVENSIONS ARE IN INCHES DRAWN 5 Hiep 3 10 15 op CHECKED 5 Hiep TITLE ANGULAR MACH25 BEND 15 uc appt EE im Motor Rear En THREE PLACE DECIMAL 005 MFG APPR R E d PERE SCENE QA COPS LE io an D DRAWING 5 THE SOLE PROPERTY OF Aluminum SIZE DWG NO REV cesT DONE NAME HERE man SSES PERA usen On Smooth pr ld i DO NOT SCALE DRAWING SCALE 2 1 WEIGHT SHEET 1 OF 1 Fig 39 Second Iterat
45. Python and Linux De Raspbian 3 Who will do what Jonathan will be the main programmer as he is a Computer Engineering major and will deal with the microcontroller interfacing Steven Bogdan and Christina will help with the electrical engineering aspects such as making sure the correct amount of voltage and current are used to achieve proper controls for the user 4 Estimated total number of hours 70 5 Outcome We will determine that feature 1s working correctly by first testing that the controls work to turn the servos without connecting to the wheelchair in the lab with physical wires Then we will connect the ping sensors and test them to see if they will provide feedback on which way and whether or not the servos have turned After we will attach these components to the wheelchair with the Wijit arm and do further testing such as making sure the buttons or switch work still wired After this testing 1s complete we will test with wireless modules such as the Arduino Xbee or wi fi dongles E Free Wheel Mode Mechanical 1 Hardware Front casters up to 2 servos motors mounting apparatuses quick release buttons and solenoid 2 Software N A 3 Who will do what The mechanical engineering senior project team Michael Peri Sophaly Paul Hiep and Simi Randhawa with their advisor Professor Vogt will be handling this aspect of the project Then they will design a mounting apparatus that can be used with the specif
46. RK Computer Aided Logic Design PCB Design Introduction to Microprocessors C programming Physics in Electricity and Magnetism Electronics Physics in Mechanics and Fluid Signal Processing Applied Electromagnetics Electrical Circuit Analysis AC DC Electromechanical Conversion Feedback amp Control Systems Modern Communication Semiconductor Device Physics Cmos and VLSI Energy System Control and Optimization SKILLS AND KNOWLEDGE e Language and Programs C HTML Python Programming Boolean logic Basic Java Basic X86 Basic Verilog e Tools Packages ADS Pspice Matlab Altium AutoCAD MS Office Oscilloscope Function Generator multimeter e Platform and Environment UNIX Windows Linux e Other Skills Bi Lingual Fluent in English and Mandarin Read Write Speak Soldering Skills e Can adjust for varying schedules willing to relocate travel for the company COMMUNICATION ORGANIZATIONAL Comfortable working with individuals at all levels of authority to help maintain a balanced and positive environment Ability to manage small detail oriented tasks that are part of a larger project Able to coordinate resources to put a plan into effect and meet specific deadlines Able to respond to criticism with a positive mind and therefore improve performance Willing to sacrifice free time to maximize academic professional results can work under constant pressure HANDS ON EXPERIENCE e Outstanding performance top 5 in circuit analysis
47. Shipping Bluecell 2 pcs Black Medium Size Lipo Battery Guard Sleeve Bag for Charge amp Storage HATCHBOX 1 75mm Green Black PLA 3D Printer Filament 1kg Spool 2 2 Ibs Dimensional Accuracy 0 05mm Universal AC Adapter 15V 16V 18V 18 5V 19V 19 5V 20V 22V 24V 70W Battery Management Lithium Ion Battery Charger Controller 8 SOIC 20 to 85 1 piece Battery Management Lithium Ion Battery Charger Controller 8 SOIC 20 to 85 5 pcs SYB 170 Color Board Mini Small Breadboard URBEST 5 Pcs AC 125V 6A ON OFF ON 3 Position SPDT 3 Pins Toggle Switch with Waterproof Boot Venom 25C 4S 5000mAh 14 8 LiPO Battery Amico 4 Pcs AC 125V 6A 3 Pin SPDT On Off On 3 Position Mini Toggle Switch Blue Quantity Price Total 2 289 00 578 00 l 1 2 1 1 20 95 2 78 6 95 9 18 15 23 21 98 13 80 6 70 8 16 6 81 5 99 78 94 2 78 20 95 2 78 6 95 9 18 15 23 43 96 13 80 6 70 8 16 6 81 5 99 78 94 2 78 Total 617 86 Table III Non Sponsor Funded Spending and Grand Total for Project Spending 14 Items Bought Quantity Price Total Replacement Po battery l 100 00 100 00 Misc Electronics 1 50 00 50 00 Total 150 00 Project Spending 1 494 07 Grand Total V MARKET REVIEW A Overview Mobility and independence are crucial factors for wheelchair users bringing them hope in rehabilitation and emotional health H
48. Voltage unless otherwise noted 10V 19V 23V Units Parameter Conditions Min Typ Max Min Typ Max Min Typ Max Vo Output Voltage T 25 C 5 mA x lo s 1A 4 8 5 5 2 11 5 12 12 5 14 4 15 15 6 V Pp lt 15W 5 mA lt lo 1A 4 75 5 25 11 4 12 6 14 25 15 75 V VMIN lt VIN lt VMAX 8 lt VIN lt 20 15 5 lt VIN lt 27 18 5 lt VIN lt 30 V AVo Line lo 500 Tj225 C 3 50 4 120 4 150 mV Regulation mA Vin 7 lt Vin lt 25 14 5 lt Viy lt 30 17 5 lt Vn s 30 V 55 CsTjs 50 120 150 mV 150 C AV in 8 lt Vin lt 20 15 s Vin lt 27 18 5 s Vin 30 V los1A Ty 25 C 50 120 150 mV AV in 7 5 lt Vin lt 20 14 6 s Vin 27 17 7 lt Vin lt 30 V 55 C lt Tj lt 25 60 75 mV 150 C AVIN 8 lt Vin lt 12 16 lt Vin s 22 20 lt Vin lt 26 V AVo Load Ty 5 mA lt l lt 10 50 12 120 12 150 mV Regulation 25 C 1 5A 250 mA lt Ip lt 25 60 75 mV 750 mA 55 C lt Ty lt 150 C 50 120 150 mV 5 mA lt l lt 1A la Quiescent lp S 1A Tj225 C mA Current 55 C lt T lt mA 150 C Ala Quiescent 5 mA lt lo s 1A 0 5 0 5 0 5 mA Current _ ops Change Ty 25 C lo s 1A 0 8 0 8 0 8 mA VMIN lt VIN lt VMAX 8 lt VIN lt 20 15 lt VIN lt 27 18 5 lt VIN lt 30 V lo 500 mA 55 C lt Tj lt 0 8 0 8 0 8 mA 150 C VMIN lt VIN lt VMAX 8 lt VIN lt 25 15 lt VIN lt 30 18 5 lt VIN lt 30 V VN Output Noise TA 25 C 10 Hz lt f lt 100 40
49. ability standard warranty and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet All trademarks are the property of their respective owners PRODUCTION DATA information is current as of publication date Copyright O 2000 2013 Texas Instruments Incorporated Products conform to specifications per the terms of the Texas f Instruments standard warranty Production processing does not necessarily include testing of all parameters LM340 N LM78xx SNOSBTO0J FEBRUARY 2000 REVISED DECEMBER 2013 IA TEXAS INSTRUMENTS www ti com bad EA SOT 223 DDPAK TO 263 Jour V2 3 lout la H1 Ala 1 3 mA over line and load changes Figure 3 Current Regulator Figure 4 Comparison between SOT 223 and DDPAK TO 263 Packages Scale 1 1 Connection Diagrams OUTPUT INPUT b ON GND e a GND OUTPUT Figure 5 DDPAK TO 263 Surface Mount Package INPUT Figure 6 3 Lead SOT 223 Top View See Package Number DCY Top View See Package Number KTT0003B A These devices have limited built in ESD protection The leads should be shorted together or the device placed in conductive foam As a during storage or handling to prevent electrostatic damage to the MOS gates Absolute Maximum Ratings 9 DC Input Voltage 35V Internal Power Dissipation Internally Limited Maximum Junction Temperature 150 C Storage Temperature R
50. adboard circuitry eg wiring wrong pin etc 19 Having all team members review the circuitry can prevent this 4 Organizational Failure Spending Exceeding Budget Reporting all purchases to the sponsor Finding approaches with reasonable cost Not Making the Due Dates Settings deadlines earlier than the due dates and have good group communication Inconsistent with our original design idea Following the design criteria since a certain design is expected Providing reasonable evidence that the new features of added functions are needed Poor time management Team leader will be checking the progress of each member and ensuring that deadlines are met Collaborating with the team and dividing tasks if they are too great for one person 5 External Failure Unexpected damage in critical design parts This failure is external and most of the time does not depend on the team but mitigation can be in the form of proper separation of the devices and proper storage of devices VIII PROJECT TASKS This section will detail the tasks that each individual member has done project features the general group tasks total hours worked by each team member and total hours spent to implement each feature through out the design process A Project Features Power System Control User Interface Wireless communication Servo Sensor feedback Free Wheel Mode B Project General Group Tasks for All Members e Documentation f
51. ange 65 C to 150 C Lead Temperature Soldering 10 sec TO 3 Package NDS 300 C TO 220 Package NDE DDPAK TO 263 Package KTT 230 C ESD Susceptibility 2 kV 1 2 5 Absolute Maximum Ratings are limits beyond which damage to the device may occur Operating Conditions are conditions under which the device functions but the specifications might not be ensured For ensured specifications and test conditions see the Electrical Characteristics Military datasheets are available upon request At the time of printing the military datasheet specifications for the LM140K 5 0 883 LM140K 12 883 and LM140K 15 883 complied with the min and max limits for the respective versions of the LM140 The LM140H and LM140K may also be procured as JAN devices on slash sheet JM38510 107 If Military Aerospace specified devices are required please contact the Texas Instruments Sales Office Distributors for availability and specifications The maximum allowable power dissipation at any ambient temperature is a function of the maximum junction temperature for operation was 125 C or 150 C the junction to ambient thermal resistance 0j4 and the ambient temperature TA Pomax Tymax Tall If this dissipation is exceeded the die temperature will rise above Tjmax and the electrical specifications do not apply If the die temperature rises above 150 C the device will go into thermal shutdown For the TO 3 package NDS the junction
52. are o Components Gears servo mount pins o Comments The quick release hardware is available with the motor made to disengage from the gears B Operation Tests The purpose of the operation tests was to test each of the individual components of our project to ensure that they work correctly For each separate component there were different types of tests that needed to be performed Operational testing 1s important to our project because at this point we can tell if we need to change our design the hardware or the software in order for the system to work correctly e 2 5 Servo Functionality o Description The servo functionality was tested by using our system with everything connected including the power systems and both Arduino Micros Then the servo was observed as the joystick was moved to ensure that the servo was turning to the correct position corresponding to the position of the joystick e 2 6 Servo Quick Disconnect o Disconnect The free wheel mode was tested by disengaging the gears with by taking out the pins and moving the motor back 32 Table VI Hardware Operation Tests 14 Person s Test Description Performing Performed Fail I D Test 25 Servo Jonathan 3 7 2015 Pass Functionality 2 6 Servo Quick Steven 3 7 2015 Pass Disconnect C Performance Test The purpose of the performance test was to determine as well as ensure that our design meets minimum requirements with respect to perfor
53. are roughly 460 000 people a year in the United States that require post stroke rehabilitation 26 Those that are faced with the challenge of recovering from a stroke may very well get their first exposure to the tools they will need from a rehabilitation provider Since rehabilitation providers are crucial to the recovery of stroke patients they are also a crucial market group for the steering assisted Wijit wheelchair D Summary People can be stuck in a wheelchair for numerous reasons In the U S alone there are about 3 million wheelchair users but it is not hard to imagine that many more either could not get access to one or just gave up on using a wheelchair Mobility and independence are crucial factors for wheelchair users bringing them hope in rehabilitation and emotional health It is great when a person stops using a wheelchair but only if the person does not need it anymore Many people can give up on wheelchairs thinking that they can never improve and do not have the motivation to work on rehabilitation and staying positive This is why team Tyiw designing the one arm Wit wheelchair with electric steering hopes to make available a device that does not let a person stop using the wheelchair until it has helped them rehabilitate possibly relearn basic motor skill functions after a stroke and keep muscles in tone and far from atrophying There are a number of products on the market that try to address this problem but
54. arry Laswell the former CEO of Wu Inc estimated in 2012 that 10 million people in the developed world use or need wheelchairs including 3 5 million in the U S 15 This number is expected to grow due to the aging of baby boomers and increase in injured veterans due to worldwide conflicts Unfortunately the standard manual wheelchair has in a way become a symbol of disability Since there are many wheelchair users the wheelchair should not be just an aid or a piece of equipment for transporting a disabled person but become a symbol of independence and rehabilitation The Wijit wheelchair driving and braking system has revolutionized the standard manual wheelchair into a symbol of independence rehabilitation and exercise The two lever propulsion eliminates the need of touching the pushrims and thus helps prevent wrist and shoulder joint injuries allowing the user to easily move forwards and back The lever arm decreases the force that the user has to apply for propulsion and makes wheelchair use easy for people with weak arm muscles The ease of use 10 and healthy exercise associated with Wipit operation can be a significant motivating factor in the rehabilitation of disabled people Specific groups of disabled people who have only one arm for wheelchair operation are hemiplegics A few solutions have been developed to assist these people with specialized wheelchairs but the solutions often fall short of properly addressing
55. at least one healthy arm but would not be useful for people who have a very weak arm and can not move it all the way back to break Fig 4 Meyra Wheelchair Monodrive 12 The presented solution choices address the need for a non electric wheelchair that provides a way of exercise and mobility for people with only one healthy arm but the steering systems might be hard to use To steer the presented wheelchairs the user has to turn the lever left or right while also pushing it back and forth for propulsion This motion might be complicated for people who have a weakened arm and can make the wheelchair difficult to control III DESIGN IDEA CONTRACT There are two main goals that our design idea plans to accomplish in one product mobility for hemiplegics and a way of exercise and rehabilitation The Wijit lever system shown in Figure 5 will be used on one of the wheels of a wheelchair to provide the physical exercise as well as propulsion of the wheelchair Using only one lever produces enough angular velocity for normal wheelchair drive but due to the passive front casters of the manual wheelchair the wheelchair would just go in circles Solving the issue of controlling the steering of the wheelchair would enable a hemiplegic person to easily move from place to place as well as strengthen and exercise the upper body Thus the main component of our design idea is the steering system which will enable a hemiplegic to bot
56. back into place The mechanical engineering team that worked with our team throughout both semesters created all of the images and designs Fig 29 First Iteration Assembly 30 8x 0 159 THRU ALL 10 32 UNF_THRU ALL 2x 0 201 THRU ALL 1 4 20 THRU ALL 4 x 0 201 THRU ALL 1 4 20 UNC_THRU ALL E ON CSUS One Arm essct Wheelchair Bracket L Left Caster Wheel L mE Ei ooworscuroeewwo 8 7 5 Fig 31 First Iteration Bracket Lefi Caster Wheel 30 8x 0 159 THRU ALL 10 32 UNF_THRU ALL 2 x 0 201 THRU ALL 1 8x 0 201 THRU ALL 1 4 20 UNC THRU ALL CSUS One Arm Propulsion Wheelchair E eo TME Bracket L Right Caster Wheel Fig 32 First Iteration Bracket Right Caster Wheel 30 29 Ee CSUS One Arm Propulsion Wheelchair Bracket Left End Rod Folk Se gt dt L Satz ara CIA o Se 33 First fection Bracket End Left Rod Fork 30 RO 188 THRU 0 386 THRU TER E CSUS One Arm ph ora Wheelchair Bracket Lever Motor HS EE I ee B D ODOWG NO 1 Fig 34 First agin Kee Arm om 30 1 4 20 Tapped Hole 390 750 i V i 360 keng 1 888 rg 4 500 LP 3 000 pe 2 625 mk 50 i je 37 i AR p 2 000 rT 313 3 250 3 250 amp em i 2 250 188 375 1 791 1 6 1 f t LS ES Zem LOL t i ANOS 4 i i 00 257 X2 750 1500 Le 666 CSUS One Arm Propulsion Wheelchair i
57. cal characteristics of L78S75C AVo Line regulation mV AVo Load regulation mV e JQexmmmm O aa Quiescent current change mA AVQ AT Output voltage arit Ig 5 mA T 0 C to 70 C Tos mvc Output noise voltage B 10 Hz to 100 kHz o 18 N Supply voltage rejection f 120 Hz 48 B Short circuit peak current TaJ Ja 1 Guaranteed by design i 10 35 DocID2148 Rev 8 Typical performance Figure 9 Peak output current vs input output differential voltage temperature Typical performance Figure 8 Dropout voltage vs junction L78S 6 c S 2 d A 3 i S 3 2 R gy O in O 5 s g N O gt o LH 25 o eH 3 e MEN iHi AY ge pa p T O m EE SESS e o LIT MATALI II Ve P act p rer AA o E om e e o T in S LL gt c 9 gt a m up cx o e pus rr UN we ap EEN AO RI e D jc d j 2 a 3 EI IIe EE cm Wel A d SSES in HEHE HH oa eee E CH ULI DTN i UY W L Mel 8 CH iii iss een ae O o MAD T ips bo o 9 SSS SS HEH H 5 o 5 ot X g amp t 5 gt E ae TE Te Les o em a S 2 3 S o d LL 17 35 DoclD2148 Rev 8 Typical performance L78S Figure 12 Supply voltage rejection vs Figure 13 Quiescent current vs junction frequency temperature CS25690 CS25700 SVR dB L78505 L78505 80
58. ch is located on the rear of the lever arm Next move the joystick left and right to see if the motor controlled caster turns If the casters don t turn refer to the troubleshooting section 3 Using the Wijit Lever Arms Step 1 The lever arms should be in the neutral position with the shifter knob in the C Getting Started 1 Safety Guidelines Precautions center MAKE SURE ALL THE ATTACHMENTS ARE SECURELY INSTALLED AVOID IMPACT TO THE TWO ELECTRONICS HOUSING DO NOT CHARGE THE BATTERIES WITHOUT READING THE CHARGING INSTRUCTIONS CHARGE THE BATTERY ON A NON FLAMMABLE SURFACE IN A COOL ENVIRONMENT WITH ENOUGH VENTILATION DO NOT LEAVE THE BATTERY CHARGING WITHOUT SUPERVISION CHARGE THE BATTERY ONLY IF THE LOW BATTERY BUZZER ALARM GOES OFF IMMEDIATELY DISCONNECT THE DC CHARGER AND FLIP THE 3 WAY SWITCH TO THE OFF POSITION IF SMOKE IS OBSERVED OR THE BATTERY BEGINS TO SWELL Step 2 Shift the knob either inwards to move forward or outwards to move backward Once shifted move your hands down the lever arm away from the knob and move the lever arms in a rowing motion either forward or backward to achieve the desired motion Step 3 To make turns you can either hold one side and just move one arm or alternate one arm forward and one arm backward Step 4 To stop pull in on the arms toward yourself and the wheelchair will brake 4 Operation Step 1 To move the wheelchair you will still use the same shifting a
59. ctive Overtemperature protection thermal limit is typically active at junction temperatures of 165 C Continuous operation above the specified maximum operating junction temperature may impair device reliability
60. d wheelchair as shown in Figures 29 through 35 30 The lever arm translated the motion from the stepper motor to the front caster which turned the wheelchair itself Due to the stepper 28 motor s lack of holding torque we were forced to go with a different iteration of this mount The team s sponsor had given us a different wheelchair so we had to adjust the design to fit the more clinical wheelchair The second iteration includes a high torque industrial servo motor and a gear system as shown in Figures 36 through 39 30 The mechanical mount was made smaller and the quick release was made into a sliding rail that had a thumbscrew to lock into place the gears A new front caster was also made so it would give enough room to add the gears and adjust the height as needed The gears were in a 2 3 ratio to assist the servo speed The gear on the servo translates the motion onto the gear that is on the caster that turns it or keeps it straight This design broke in the end and we had to redesign something that would have more strength The third iteration of the mechanical mount was still a gearing system but a redesign of the mount itself as shown in Figures 40 through 42 30 The mechanical engineers made it more rigid and included a different way to quickly release it to turn it into a standard wheelchair To accomplish the standard wheelchair mode the user will have to unscrew two wingnuts and slide the mount back and secure it
61. d our year long project into a wholly integrated system that we feel will meet the consumer needs as well as satisfy those of our industry sponsor In doing so we hope that this system will be an effective and easy to use method for hemiplegic patients to enjoy the benefits of the Wipt wheelchair system and physical neuromuscular integration 35 1 2 3 4 5 6 REFERENCES 7 A Howell T Kobayashi H Hayes K Foreman S Morris Bamberg 2013 Dec Kinetic Gait Analysis Using a Low Cost Insole IEEE Transactions on Biomedical Engineering Online 60 12 pp 3284 3290 Available http 1eeexplore 1eee org proxy lib csus e du stamp stamp sp tp amp arnumber 6473 842 D Shah D Balusamy M Verma G Jui 2013 Dec Comparative Study of the Effect of Taping On Scapular Stability 8 and Upper Limb Function in Recovering Hemiplegics With Scapular Weakness Chronicles of Young Scientists Online 4 2 pp 121 129 Available http eds a ebscohost com proxy lib csus 9 edu ehost pdfviewer pdfviewer sid a985 4cf0 33b7 4902 b894 603568bd52e1 40sessionmgr4003 amp vid amp hid 4213 Hemiplegia and Hemiparesis Stroke Rehab Online Available http www stroke rehab com hemiplegia html Hemiplegia Medical Show Online Available 110 http medicalshow blogspot com 2012 0 5 hemiplegia html Physical Activity for People With Mobility Issues or Disabilities Active Living
62. digital pin to buzzer void setup SET servol attach to 10 servo digital pin SET pinMode of spearkout to OUTPUT SET Serial begin to 9600 SET Seriall begin to 9600 For arduino micro j void loop IF Seriall is TRUE READ seriall character SET msg to read value READ pin A5 SET voltl to read value CONVERT volt value to voltagel value between 0 and 5 volts IF voltagel lt 4 4 Low battery alert SET tone to 800 for speakerOut SET delay to 1000 SET noTone for speakerOut SET delay to 3000 END IF IF msg L SET servol write to 110 IF voltage lt 1 05 AND voltagel gt 1 03 SET servol write to 110 END IF ELSE IF msg D SET servol write to 90 IF voltage lt 1 77 AND voltagel gt 1 75 SET servol write to 90 END IF ELSE IF msg R SET servol write to 75 IF voltage lt 2 96 AND voltagel gt 2 94 SET servol write to 75 END IF ELSE SET tone to 700 for speakerOut for 150 SET delay to 200 SET tone to 700 for speakerOut for 150 SET delay to 200 SET tone to 700 for speakerOut for 150 SET delay to 200 SET tone to 700 for speakerOut for 150 SET delay to 200 SET noTone for speakerOut SET delay to 5000 END IF XIII MECHANICAL WORK The mechanical mount has gone through three iteration and design changes based on the criteria and feedback our sponsor has given to us The first iteration included a lever arm system with quick release pins to turn it into a standar
63. e non standard baud rates also supported non standard baud rates also supported Receiver Sensitivity 92 dBm 1 packet error rate 100 dBm 1 packet error rate Supply Voltage 2 8 3 4V 28 34V 250mA 3 3 V 150mA for international variant Transmit Current typical 45mA 3 3 V RPSMA module only 340mA 3 3 V 180mA for international variant Idle Receive Current typical 50mA 3 3 V 55mA 3 3 V Power down Current lt 10 pA lt 10 uA AAA ed Operating Frequency ISM 2 4 GHz ISM 2 4 GHz Dimensions 0 960 x 1 087 2 438cm x 2 761cm 0 960 x 1 297 2 438cm x 3 294cm Operating Temperature 40 to 85 C industrial 40 to 85 C industrial Antenna Options deele Chip or U FL Connector RPSMA So n Chip or U FL Connector RPSMA Networking amp Security Supported Network Topologies Point to point Point to multipoint amp Peer to peer ee 16 Direct Sequence Channels 12 Direct Sequence Channels Addressing Options DAN ID Channel and Addresses PAN ID Channel and Addresses United States FCC Part 15 247 OUR XBEE OUR XBEEPRO Industry Canada IC 4214A XBEE 4214A XBEEPRO Europe CE ETSI ETSI Max 10 dBm transmit power output me mov e EEN Max 10 dBm transmit power Austraila C Tick C Tick See Appendix A for region specific certification requirements Antenna Options The ranges specified are typical when using the integrated Whip 1 5 dBi and Dipole 2 1 dB
64. e voltage 4 15 0 05V Over discharge detection voltage 2 5 0 08V Over discharge protection Over discharge release voltage 3 0 0 1V Rated operational current Over current detection current 17 4A Over current protection Release condition Cut load 5 Detection condition Exterior short circuit Short protection Release condition Cut short circuit Interior resistance Main loop electrify resistance Rgg lt 60mQ Current consumption Current consume in normal operation 50uA Max Dimension L W H 50 16 3 5mm 4 Parts list dimension R 0603 1KQ 5 1 10W 0603 R7 12 R2 R5 R 0603 5 1KQ 5 1 10W 0603 R3 R6 5 R 2512 0 0120 1 2W 2512 Rl R15 C 0603 104 50V X7R 10 0603 C1 C5 C7 RYD 03AS V1 0 50 16 1 Omm Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 2 of 4 Tenergy Corporation 436 Kato Terrace TE N ERGY Tel 510 687 0388 ee www Tenergy com email sales tenergy com 5 Application Circuit 6 PCB layout li ee Rill ul ci RW CoU NH 16 0mm Q2 03 de DE300052 94V 0 SAS 50 0mm IPM Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 3 of 4 U Ui Tenergy Corporation 436 Kato Terrace TE ERGY Fremont CA 94539 Ces E Tel 510 687 0388 Fax 51
65. ed windmill a turbine driven motor that produces a full wave rectified DC voltage The group used two Arduino micro controllers one of the Arduino is used to control the position of the windmill by attaching a servo motor to its base and the second Arduino is used to validate and examine the voltages produced by the windmill s motor by using Analog to Digital Converter program and show the voltage results on LCD liquid crystal display using voltmeter program ACHIEVEMENT and EXTRACURRICULAR ACTIVITIES Dean s Honor List for 8 consecutive full time semesters ISA Club Club Representative 2010 2011 Being requested by professors to be their Student Assistant and Private Tutor 2011 2015 Associate Member 2012 2013 Sacramento State Alumni Foundation Scholarship Electrical and Electronic Engineering category Sep 2014 Vrieling Family Scholarship May 2013 Gatto amp Cullivan Family Scholarship May 2013 e o e 0 5 gt OY ARDUINO Appendix C Datasheets Arduino Micro Fr 7 n Fr a R a a SY Ur ST e a e S E ALMAS LEM H AS dede ai de GE ne o y ei H Jem d SS NM H wean e TX RX i ENER ITH ADAFRUIT gege RE RO R E B 7 m IR E NE RD K 6 ainieieieieirieiein 8 EST A A A A The Arduino Micro is a microcontroller board based on the ATmega32u4 It has 20 digital input output pins of which 7 can be used as PWM outputs and 12
66. eng Zhang Dear Akihiko Kumagai Even though you were not our senior design instructor we would like to thank you for being available for us to ask questions about the Mechanical Engineering aspects of our project We are convinced that our team will complete this project in a way that you have envisioned it or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear Rustin Vogt Even though you were not our senior design instructor we would like to thank you for being available for us to ask question while we worked on our project We would also like to thank you for assisting both the Mechanical and the Electrical Engineering senior design group We are convinced that our team will complete this project in a way that you have envisioned it or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely 43 Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear Patrick Homen Even though you were not our senior design instructor we would like to thank you for being available for us to ask question while we worked on our project We are convinced that o
67. enters in the US 22 C Medical Providers Potential Partners 1 PT and OT APTA A physical therapist is a licensed professional that will help people with mobility limitations 23 They can examine and evaluate a patient based on their condition and have the power to recommend their patients with necessary devices such as a shower chair a walking cane wheelchair eSan Juan etc According to APTA American Physical Therapist Association PTs examine each individual and develop a plan using treatment techniques to promote the ability to move reduce pain restore function and prevent disability 24 AOTA An occupational therapist provides assistance for people with limited mobility They assist the patients with personal care in order to help them achieve daily activities Based on the information on the AOTA s website Occupational therapy services may include comprehensive evaluations of the client s home and other environments recommendations for adaptive equipment and training in its use 25 Both of the PTs and Ots provide health care in a large variety of setting such as hospitals private medical centers clinics school and sports facilities etc If the Wu product can gain recognition through the APTA and AOTA it is going to promote a large number of sales in the future and therefore generate very positive revenue 2 Family Physicians Family physicians can write prescriptions for wheelchair
68. erminal B Connected to the second battery s positive terminal T No connected Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 4 of 4 TENERGY Specification Approval Sheet Name Protection Circuit Modules Model 32027 SPEC PCM F14 8V 6 17A 2014 11 3 Customer Company Name o 436 Kato Terrace Fremont CA 94539 U S A Tel 510 687 0388 Fax 510 687 0328 www lenerov com Tenergy Corporation 436 Kato Terrace TE N ERGY Tel 510 687 0388 ee www Tenergy com email sales tenergy com Amendment Records mE EE Changed PCM 2014 10 30 2014 11 3 Bing Chen A A2 Changed over current detection current and Resistance R1 R15 Bing Chen Specifications and data are subject to change without notice Contact Tenergy for latest information 2010 Tenergy Corporation All rights reserved Page 1 of 4 Tenergy Corporation 436 Kato Terrace TE ERGY Fremont CA 94539 Tel 510 687 0388 Fax 510 687 0328 www Tenergy com email sales tenergy com 1 Outline This specification 1s suitable four serial cell Lithium 10n Battery Protection circuit manufactured by Tenergy Corporation 2 Application Lithium ion rechargeable battery packs Lithium ion polymer battery packs 3 Electrical characteristics Over charge detection voltage 4 25 0 025V Over charge Protection Over charge releas
69. es Sensor Feedback m9 ES Feedback Sensor Feedback MEM Wireless Communication 15 16 ENNNNL 7 O P Mot Research and Build steve eee ee Management Research and Reports NENNEN EE Weekly Project Reports Christina l Plan Modification Bogdan Communication With Steven Sponsors The team atmosphere throughout the whole design was healthy and motivating Each member jumped in when necessary to help in various aspects of the project In the first semester the team estimated the number of hours the development of each feature would take This information along with the actual number of hours spent is tabulated in Table II 14 It can be seen that that for the most part each feature took more time to complete than was estimated Table V Project Hours Per Feature 14 17 Figure 10 is a timeline of the milestones completed in the two semesters 14 Most of the work was completed in the second semester but the first semester set the stage for a successful second semester The inclusion of a new team member in the second semester Julio McClellan also greatly benefited the team in the second semester The research and data gathering of the first semester was very useful The planning made early on contributed to the painless completion of the design Completion of Complete Wireless S dM ervo Communication Beebe Complete Deployable Prototype February April 20
70. escription The lever arm microcontroller was tested to ensure that it would be able to read the values of the position of the joystick correctly This was tested by observing the serial output on the Arduino IDE via USB connected to a computer b Result Passed 2 Servo Assembly Microcontroller a Description The servo assembly microcontroller was tested to ensure that it would be able to read the correct values read from the feedback of the servo to ensure the servo turned correctly This was tested by observing the serial output on the Arduino IDE via USB connected to a computer b Result Passed 3 ZigBee Communication The Zigbee communication was tested by connecting both Arduino Micros to my 34 computer via USB with the Xbee modules attached Then the 2 serial monitors were watched from the Arduino IDE to ensure that the correct signals being sent were being received on the other end a Result Passed C Performance Tests For the performance tests the communication data and error rate were tested to ensure that the software written was able to communicate effectively with the hardware over a wireless connection These tests were performed by uploading the code to the respective microcontrollers and including extra code with the micros arduino function to test the communication time 1 Communication Data Rate a Expected Result 9600 bits s or 1200 bytes s b Actual Result 9615 bits s or 1201 bytes s 2 Commun
71. evaluations to those patients that they deem necessary so that they can obtain the proper wheelchair That is one of the main reasons why the category of these physicians should be included in the market for our system By marketing this system to family physicians we can show them another option for their patients that suffer from numerous ailments that lead to hemiplegia To obtain a prescription from physicians the physician has to be sure that the Wijit one arm wheelchair 1s very necessary for the well being of a patient Thus it is important to show family physicians the change a Wijit wheelchair can make in a person s life especially for a person who is paralyzed on one side of the body 12 Family physicians usually know their patients pretty well and are involved in many aspects of a person s health They often can have close relationships with the patients since they study the patient for years and help out when various medical issues arise This means that these people are well acquainted with the needs of their patients and the close relationships with patients help provide the patient with the necessary equipment for treatment This group of people is very important in the path of providing quality wheelchairs for hemiplegic patients and should be informed of the benefits of the Wijit one arm wheelchair 3 Physiology rehab Rehabilitation is often one of the first steps on the road to recovery for post stroke patients
72. ftware program ERG Group Installation Supervisor 01 2006 06 2006 Contracted to manage and assure quality of an installation project for Golden Gate Transportation Accountable for expedience and quality of operations associated with installation contract Management of a small group of electronic equipment installers Hands on experience with device installation prototyping procedures and parts procurement NC Dept of Transportation Electronics Technician II 01 2004 12 2005 Worked hand in hand with vendor liaisons on installation and testing of wireless communication between intersection controllers and railroad preemption cabinets Recommended use of wireless radio communication at railroad intersections in order to circumvent costs to state incurred by railroad companies for use of property U S Navy E 5 Calibration Technician 05 1998 05 2002 Metrology experience includes physical mechanical and electronic equipment standards such as frequency counters RF Microwave attenuators pressure switches and spectrum analyzers Worked with system calibration procedures and equipment aboard a nuclear aircraft carrier Responsible for management of issue and receipt of equipment Managed and maintained laboratory ESD program Bogdan Svityashchuk bogdanivanovich csus edu OBJECTIVE An internship position in Electrical and Electronic engineering EDUCATION In progress BS Electrical and Electronic Engineering e CSU Sacrament
73. g with the health and care of old people Hemiplegia Total or partial paralysis of one side of the body that results from disease of or injury to the motor centers of the brain Neuromuscular Of or relating to nerves and muscles 38 39 APPENDICES APPENDIX A TEAM CONTACTS AND THANK YOU LETTERS Contacts The contacts we have made are as followed Brian Watwood John Rhea Warren Smith Fethi Belkhouche Russ Tatro Dennis Dahlquist Rustin Vogt Akihiko Kumagai Patrick Homen Mike Newton Also we collaborated with a UCD Biomedical student team Chris Zikry Phuong Dang Dat Ho Marcel Bernucci and their Professor Anthony Passerini We are also grateful we were able to work with a CSUS ME team including Michael Peri Sophaly Hiep and Simi Randhawa The person who has helped the most is Dr Warren Smith With his knowledge and his connections he has provided us with an industry sponsor that was willing to give us a project and was willing to give us alternative projects aside from the Wijit project Without Dr Smith s assistance the team would have not gotten this project Brian Watwood and John Rhea are other people who we have had the most contact with They had provided us funding for this project and also insight on what their vision 1s for this project Communication with them is key in order to have a successful project and a satisfied sponsor The Electrical Engineering professors were very helpful and encouraging Profess
74. h steer and propel with one arm Fig 5 Wijit Lever System 13 The block diagram shown in Figure 6 depicts the main design components and their interconnection in the design idea 14 The user activates the steering control by inputting the desired steering direction with devices such as push buttons or a joystick The input steering direction signal is sent wirelessly from one microcontroller on the Wijit lever arm to a second one which controls the motor This wireless communication allows effective and efficient delivery of signals from the user to the motor controller This second Arduino then sends signals to the servo which moves the caster to the desired position Feedback is employed to 5 make sure that the steering operation 1s actually performed and if it is not the controller prompts the servo a second time to turn to the desired position Two batteries are used in the design to supply power to the lever arm electronics and the electronics pertaining to powering the motor 7 4V Battery Battery Charging amp Protection Arduino Micro Voltage Regulation 7 5V User Steering Controls Joystick ai 1 Xbee Battery Charging amp Protection Arduino Micro Industrial Servo Fig 6 Steering System Block Diagram 14 Wheelchair Caster Position Voltage Regulation 12V Servomotors seem to be the proper devices to accom
75. he software that will be used will be a combination of the following the open source Arduino environment C Python and Linux De Raspbian 3 Who will do what Jonathan will be the main programmer as he is a Computer Engineering major and will deal with the microcontroller interfacing Steven will help with the electrical engineering aspects such as making sure the correct amount of voltage and current are used to achieve proper controls for the user 4 Estimated total number of hours 50 5 Outcome We will determine that this feature 1s working correctly by first testing that the controls work to turn on simple LEDs or turn the servo without connecting to the wheelchair in the lab with physical wires Then we will attach these components with the sensors after sensor testing to the wheelchair with the Wijit arm and do further testing such as making sure the buttons or switch work After this testing 1s complete we will test with wireless modules such as the Arduino Xbee or wi fi dongles Wireless Communication 1 Hardware up to 2 microcontrollers such as the Arduino Parallax Propeller Raspberry Pi or Beaglebone 2 Xbee shields modules or wi fi dongles push buttons or switch up to 2 servos motors Wijit arm 2 front wheelchair casters battery 2 Software Depending on the microcontroller platform the software that will be used will be a combination of the following the open source Arduino 7 environment
76. i anten nas The Chip antenna option provides advantages in its form factor however it typically yields shorter range than the Whip and Dipole antenna options when transmitting outdoors For more information refer to the XBee Antennas Knowl edgebase Article located on Digi s Support Web site Mechanical Drawings Figure 1 01 Mechanical drawings of the XBee XBee PRO RF Modules antenna options not shown 2009 Digi Internatonal Inc 5 FEATURES Outputs May be Paralleled for Higher Current and Heat Spreading Output Current 3A Single Resistor Programs Output Voltage 5011A Set Pin Current 1 Initial Accuracy Output Adjustable to DN Low Output Noise 404Vrms 10Hz to 100kHz Wide Input Voltage Range 1 2V to 23V DD Pak and TO 220 Packages Low Dropout Voltage 310mV 1mV Load Regulation lt 0 001 V Line Regulation Minimum Load Current 1mA Stable with Minimum 10uF Ceramic Capacitor Current Limit with Foldback and Overtemperature Protection Available in 16 Lead TSSOP 12 Lead 4mm x 4mm DFN 5 Lead TO 220 and 5 Lead Surface Mount DD PAK Packages APPLICATIONS High Current All Surface Mount Supply High Efficiency Linear Regulator Post Regulator for Switching Supplies Low Parts Count Variable Voltage Supply Low Output Voltage Power Supplies AL LT3083 TECHNOLOGY Adjustable 3A single Resistor Low Dropout Regulator DESCRIPTION The LT 3083 is a 3A low dropout linear regulator that can be pa
77. ibution OPTIONAL FOR MINIMUM 1mA LOAD REQUIREMENT 49 49 5 50 50 5 51 SET PIN CURRENT DISTRIBUTION pA 3083 TAO1b 3083fa l LT3083 ABSOLUTE MAXIMUM RATINGS Note 1 All Voltages Relative to Voyr CONTROL Pin Voltage 28V Output Short Circuit Duration Indefinite IN Pin Voltage T5 Q Packages 18V 0 3V Operating Junction Temperature Range Notes 2 10 No Overload or Short Circuit 23V 0 3V E l grades A 40 C to 125 C IN Pin Voltage DF FE Packages 8V 0 3V Vil seio AG A 99 C to 125 C No Overload or Short Circuit 14V 0 3V Storage Temperature Range 65 C to 150 C SET Pin Current Note A 25mA Lead Temperature Soldering 10 sec SET Pin Voltage Relative to OUT 10V T QFE Packages Eege enee 300 C PIN CONFIGURATION TOP VIEW VCONTROL VCONTROL DF PACKAGE 12 LEAD 4mm x 4mm PLASTIC DFN Tymax 125 C Oya 37 C W O q 8 C W EXPOSED PAD PIN 13 IS OUT MUST BE SOLDERED TO PCB FRONT VIEW 5L JIN 4 JVcontroL 3L OUT 2 SET 1L NC Q PACKAGE 5 LEAD PLASTIC DD PAK Tumax 125 C Du 15 C W Or 3 C W ORDER INFORMATION LEAD FREE FINISH LI3083EDF PBF LI3083EFEZPBF LT3083EQ PBF LI3083ET PBF LT3083IDF PBF LI3083IFE PBF TOP VIEW VCONTROL VCONTROL FE PACKAGE
78. ic motor chosen and our microcontrollers and have quick release buttons to remove whatever linkage there may be from the motor to the front caster to allow the wheel to rotate freely If time allows Bogdan and Steven will work on setting up a solenoid with the buttons so that the wheels can be released electronically without having to bend down and release the buttons on the mounting apparatus Julio and Steven will also take part in this feature 4 Estimated total number of hours 50 5 Outcome We will determine that this feature is working correctly by collaborating with mechanical engineering professors and students They will help us in figuring out how to incorporate release buttons into the design of the mounting apparatus Once we have the okay from them then we will 8 integrate these aspects into our system When the mounting apparatus is connected to our system we will perform tests with various users of varying weight to ensure proper operation and release when the buttons are activated We will also test if time allows for the design of an electronic release that there is enough power going to the solenoids and button to allow for the release IV FUNDING PROPOSALS Funding for this project was broken up into two parts electronics and mechanical The project was funded by our sponsor Brian Watwood the inventor of the Wiit System Brian Watwood had given one member of the group the sole responsibility of buying ite
79. ication Error Rate a Expected Results 0 2 b Actual Results 0 15 XVI CONCLUSION With the results obtained through the assembly and testing phase of our design we have achieved a successful deployable prototype of a single arm Wijit wheelchair system Through the addition of approximately 7 lbs of hardware we have created a modular device that enables persons limited to the use of one side of the body to achieve mobility through their own physical exertion Functionality performance and safety are all essential components of our design while providing a means for neuromuscular integration in the lives of hemiplegic patients being the desired final outcome Although our prototype has some limitations with respect to grade and landscape it is still a strong proof of concept for a electro mechanical one arm wheelchair system By using available modern electronics such as microcontrollers high torque servos Xbee wireless technology and modern battery design Lithium Polymer we have created an effective system for hemiplegic patients to experience both mobility and the benefits of exercise with only one arm With the help of industry sponsors CSUS faculties a UC Davis Biomedical Engineering team and a CSUS Mechanical Engineering team Team Tijiw has integrated all the key features of a Design Idea into a durable and condensed mechanism for the improved quality of life of hemiplegic patients Our team has fully implemente
80. icial for these kinds of disabled people After months of design and testing a modular wireless electronic steering assist system was created to work on top of an existing Wipit Wheelchair By adding only 7 125 lbs of additional electronics to a clinical wheelchair equipped with Wiyit lever arms a user who only has one healthy arm can both propel forward and backward and turn left and right This is achieved with an input device a joystick mounted to the lever arm that wirelessly controls a high torque servomotor mounted to the front caster A user is able to use this system on a number of surfaces that include concrete asphalt and vinyl linoleum style floors However they do need to be careful using wheelchair ramps because only using one arm will not provide enough power to get up ramps that have a 6 degree incline or greater With this system being modular a patient with either a healthy left or right arm is able to achieve mobility and neuromuscular rehabilitation by simply moving the electronics around the wheelchair II SOCIETAL PROBLEM A Hemiplegia and Hemiparesis Every year 610 000 people experience their first stroke and 185 000 more have a recurrent stroke attack 1 Hemiplegia commonly occurs after a stroke Hemiplegia is the commonest form of paralysis involving arm leg and sometimes the face on one side of the body 2 In effect in many cases the disabled person is not able to feel any pain in the paralyzed
81. in Figure 9 were split up between the team members Some of the responsibilities for team members changed throughout the project development but a lead person was assigned for each task to lead it to completion Table I contains the information about each lead member assigned to lead a task to completion 14 14 The firs semester design phase consisted of completing a laboratory prototype while the goal of the second semester was the completion of a functional deployable prototype Throughout the design of the project several design changes were made to fulfil the project requirements For example the team used a five phase stepper motor in the first semester for the task of steering the casters This device had to be changed since it was relatively heavy and did not provide enough torque A high torque industrial servo replaced this motor and was perfect in the design similarly pushbuttons were used in the first semester in the user interface but a joystick was used later which was a lot more comfortable and elegant Table IV Project Feature Work Breakdown 14 Power Supply System Christina Power Failsafe Battery Christina Protection ee 14 8V Battery Charging Bogdan Saaz 7 4V Battery Charging Julio Joystick Packaging Steven Controls User Interface Steering Interface on Lever Arm Joystick Arduino Communication Jonathan Wireless Connection anes Loss Low Battery Alert Wireless Xbee Modul
82. ing for Linear Bearing for 1 1 8 Bearing OD Perma Lube Steel Ball Bearing ABEC 1 Double Sealed No R8 for 1 2 Shaft Diameter 1 1 8 OD Recessed Push Button Quick Release Pin All Stainless Steel 3 8 Diameter 1 1 2 Usable Length Multipurpose 6061 Aluminum 90 Degree Angle 3 8 Thick 3 X 4 Legs 2 Long Alloy 932 SAE 660 Bronze Sleeve Bearing for 1 2 Shaft Diameter 3 4 OD 3 Length Multipurpose 6061 Aluminum Rectangular Bar 1 2 X 1 1 Long Multipurpose 6061 Aluminum 1 Thick 1 1 2 Width 1 Length Heavy Duty Aluminum Clamp on Framing Fitting Add on Flange Fits 1 OD Tube McMasterCarr Shipping Bourns Encoders Mouser Electronics Shipping Shaft Extender Designatronics Inc Shipping Quantity l 2 2 E bech poi pi E Price 19 95 29 95 29 95 29 99 9 92 31 28 13 49 33 23 48 57 11 17 4 99 13 15 40 48 10 74 6 69 32 99 41 41 79 50 Total 19 95 59 90 59 90 29 99 19 84 31 28 13 49 66 46 48 57 11 17 4 99 13 15 80 96 10 74 6 69 32 99 41 41 79 50 Total 726 21 Table II Spring 2015 Sponsor Funded Spending 14 Items Bought Invenscience 100600 Torxis Servo 1600 on in 1 5 sec 90 deg Pololu Shipping Amico 4 pcs AC 125V 6A 3Pin SPDT on off on 3 Position mini Toggle Switch 2 Axis Joystick Adafruit
83. ion Motor Rear End 30 weg j 1 Are ett i Hr E de f v V i i pu f i gt X L SE 7 a 5 gt gt 42 Em Ps OL e B AZ A X MOX ZU em a Welt a Fa i 40 mM 2 25 140 dee i 1 A 1 SC i 1 4 201 Hol UNLESS OTHERWGE SPECIFED NAME DATE DMENSIONS ARE IN INCHES DRAWN M Pes 4 12 20 5 FACRONM UM CHECKED TITLE ANGULAR MACH 5 BEND 15 ENG Apeg t T TWO PLACE DEC o o E Motor Moun mare GeOVETIRC GA Sg teen COMMENTS L aed SIZE DWG NO REV LSE Or Smooth D SCALE 1 2 WEIGHT SHEET 1 OF Fig 40 Third Iteration Motor Mount 30 3l UNLESS OTHERWISE SPECIFIED f DIMENSIONS ARE IN INCHES TOLERANCES f TITLE CHECKED ANGULAR MACH IEND TWO PLACE DECIMAL 4 MGARR THREE PLACE DECIMAL t MFG APPR Calapsible Caster Actuator Assembly Revision 2 WITERPRET oeowETRC GA as COMMENTS SCALE 1 10 WEIGHT Fig 41 Third Iteration Fully Assembled Drawing 30 SHEET 1 OF 1 1 QTY PART NUMBER Bracket L Right Motor 3 9578171 Sample Caster Insert 5 s10a9z 048h192 Am Motor 234x186 1 2 7 p7149A250 DESCRIPTION aster 10a9z 048h096 2in at caster 2 pacer half inch lenght ha inch id 10 racket_Caster_Wheel 95373A209 92185A540 Caster_Rim B 714 Costing Rubber Tre UNLESI OTHESWGE SPECIFIED
84. mance measurements Meeting these requirements serves as indication that the design functions and operates as expected Due to a required mechanical redesign some of the tests were initially delayed during the time of our initial testing With the completion of the third iteration of the mechanical mounting all other tests were completed and showed great results e 3 6 Servo Range of Motion o This test was intended to test the steering capabilities of the wheelchair in both directions o Left of Center Expected Results 35 degrees Actual Results 36 degrees o Right of Center Expected Results 125 degrees Actual Results 123 degrees This test gave very good results with the wheelchair doing great on both left and right turns e 3 7 Servo Response Time How much time it takes from a user moving the joystick to the servo motor Expected Results 1 second Actual Results 0 8 1 second s Date Test Pass Table VII Hardware Performance Tests 14 Test Person s Test Description Performing eee I Test D Servo Range of Motion Steven Left of Center Right of Center U Us MO 3 10 11 3 e 3 8 Servo Load Limit Performance o Having a high load on the wheelchair to see if the servo can handle the load and turn the wheelchair The lightest people in the team were part of the test No gear shppage was observed when going forwards or backwards Some gear shppage was observed when the heaviest person d
85. mation Paralyzed of America Online Available http www pva org site c ajIRK9NJLcJ2 E b 6344373 k 4182 Spinal Cord Injury _Information htm Cord Injury Veteran s Spinal SCI Centers Department of Veterans Affairs Online Available http www sc1 va gov SCI Centers asp Role of Physical Therapist Assistant PTA American Physical Therapy Association Online Available http www apta org PT ACareers Roleofa PTA Role of a Physical Therapist American Physical Therapy Association Online Available http www apta org PTCareers RoleofaP T Occupational Therapy Improving Function While Controlling Costs The American Occupational Therapy Association Online Available http www aota org About Occupational Therapy Professionals aspx sthash IMIM 1Q34 dpuf Post Stroke Rehabilitation Fact Sheet National Institute of Neurological Disorders and _ Stroke Online Available http www ninds nih gov disorders strok e poststrokerehab htm 27 28 29 30 Stroke Rehabilitation Yellow Pages Online Available http www yellowpages com sacramento ca stroke rehabilitation J McClellan Hardware Electronic Flowcharts 2015 J Evangelista Software Flowchart 2015 M Peri S Randhawa S Hiep Professor Rustin Vogt Sacramento State University Mechanical Engineering Team Mechanical Drawings 2015 GLOSSARY Geriatrics The branch of medicine or social science dealin
86. ms Steven Trinh There were definitely some exceptions to this however as we progressed throughout the semester One member of the group had shorted a LiPo battery and had to purchase another one right before an expo and thus had to purchase it with their money There are various miscellaneous parts that had been bought by another team member that were thought to be useful but ended up not such as some extra charging protection circuits bolts and spacers The mechanical team had outsourced some of their work to a third party company due to a special type of aluminum which is hard to bend and Sacramento State University did not have the tools necessary to bend in house The following tables summarize all the costs of this project Table I Fall 2014 Sponsor Funded Spending 14 Items Bought Quantity Price Total Parallax Ping ultrasonic Range Sensor 28015 2 24 99 49 98 American Weigh Scale American Weigh H 110 Digital Hanging Scale 110 X 0 05 Pounds ArcBotics Metal Gear Micro Servo with Analog Feedback Ventisonic KY 008 Laser Transmitter Module for 2 Arduino AVR PIC l 17 28 17 28 l 13 99 13 99 6 99 13 98 Items Bought Arduino Xbee Shield Xbee Explorer Dongle Abee 1mW Chip Antenna SainSmart MEGA SainSmart Sensor Shield V4 SainSmart XBee Shield for Arduino UNO MEGA Super Swivel Ball Joint Rod End 3 8 24 Right Hand Male Thread 3 8 ID 1 3 8 L Thread Aluminum Flange Mount Hous
87. n e n Progress B S Electrical Engineering CSU Sacramento To be Completed May 2015 e A S Degree in Physics from Solano Community College Related Courses Engineering Economics Calculus Chemistry Probability amp Statistics Microbiology Applied Electromagnetics Feedback Systems Robotics Electronics Advanced Analog Circuits Physics Power Control Drives Skills Organization and Leadership e 6 years leadership experience includes both military and professional e Skilled at identifying both team and individual strengths and weaknesses and providing feedback for improvement e Experience creating technical reports and procedures in a cGMP environment Computer Applications e Experience with engineering tools such as MatLab PSpice and MultiSim e Proficient with systems used at GNE Vacaville such as SAP TrackWise BAS Citrix Pl DCS and MCS e Skilled at MS Word Excel and at giving technical PowerPoint presentations to groups e Able to program in C C Verilog MatLab HTML and JAVA Professional Military Experience Genentech Vacaville Senior Instrumentation Technician 02 2009 Present Responsible for calibration maintenance and repair of instrumentation equipment and systems at bio chemical facility Strong familiarity with process control laboratory HVAC R and plant utility systems at GNE Vacaville Served as instrumentation lead on guided wave radar upgrade project for CCP1 Responsible for initiation and as
88. nd analytical skills e Enthusiastic in all situations e Always ready to acquire new knowledge and skills e Leadership experience in Christian youth camps e Multilingual English Ukrainian Russian Software Cadence Virtuoso e PSPICEe Altium Designer e Multisim e Matlab e ADS e Word e Excel e PowerPoint Programming C C Visual Basic ACTIVITIES AND ACCOMPLISHMENTS e Dean s Honor Roll Fall 2013 e Dean s Honor Roll Spring 2014 e Dean s Honor Roll Fall 2014 Steven Trinh Steven TrinhO8 gmail com 916 716 9573 Objective An internship in Electronics Engineering Education in progress BS Electrical Electronics CSU Sacramento e Spring 2016 Related Courses Linear Integrated Circuits Microelectronic Devices and Circuits Introduction to Microprocessors PCB Design Fundamentals Physical Electronics Network Analysis Modern Communication Signals and Systems Applied Electromagnetics Spring 2015 Skills Languages Verilog C C Python Tools Packages PSPICE Altium SolidWorks e AutoCAD MS Office Platform Environments Windows UNIX Linux Equipment Digital Oscilloscope Function Generator Digital Multimeter Organization Communication Able to use engineering principles tools and equipment to improve processes and products Experience working as an effective team member on engineering projects Skilled at testing and troubleshooting software and hardware problems and finding solutions Comfortable making
89. nd rowing motion as described in the Using the Wyit Lever Arms section but instead you will be only using one arm Step 2 To turn use the joystick and move it either the left or right to turn in that direction Make sure to be moving already before turning the caster with the joystick Step 3 To turn in reverse use the joystick again as described above but make sure to have the wheelchair already moving in reverse with the lever arm before turning the caster with the joystick Step 4 To brake simply release your fingers hand from the joystick pull the one arm you are using to control with inward toward yourself 5 Powering Off Step 1 Move the switch on the Lever Arm Unit to the center position Step 2 Move the switch on the Motor Control Unit to the center position Step 3 Remove the fuse from the Motor Control Unit 6 Entering Free Wheel Mode Step 1 Remove both wingnuts that is attached to the servo Step 2 Slide the servo back to the second set of screw holes on the mount Step 3 Tighten the wingnut back onto the mount Step 4 Now you can freely move the wheelchair 7 Charging During wheelchair operation if the buzzer alarm goes off then it is a good indication of low battery Step 1 To charge up the battery simply take a DC charger with output set to 18 5V and plug it into the DC charging port on the battery case Step 2 Flip the 3 way switch to C setting to charge for both the Motor Cont
90. ndependence for those over 50 and help them live and rehabilitate with their disability or disease One of the diseases that can affect adults over 50 is cerebral palsy It 1s also possible for an adult to grow up with the disease and have to overcome the challenges that come with aging with cerebral palsy With cerebral palsy a person could also suffer from hemiplegia because of the damage to the brain s motor centers According to registered nurse Diane Walker 25 of people with cerebral palsy who walk as children lose that ability as they get older either because of pain or because using a wheelchair or scooter become easier 18 Another illness that affects the older population is strokes Hemiplegia commonly occurs after stroke and it is the most common form of paralysis involving arm leg and sometimes the face on one side of the body 2 Both cerebral palsy and strokes can lead to an older adult experiencing hemiplegia but our system can help alleviate some of the side effects of these conditions Our Wyit system can help those adults become mobile and achieve better well being through neuromuscular rehabilitation by having the Wu lever arms to manually propel and the help of our electronic steering control They will be able to help rehabilitate both their bodies and minds with this system Without a system like ours adults would experience a severity of disease and reduced overall health and well being 19
91. neering students on a year long Society of Automotive Engineers design competition to design build and test a prototype Formula style racecar The car will be judged in multiple categories Personally responsible for coordinating with other systems leads to compile a list of parts to be manufactured record completion and quality check all parts to assure compliance with specifications Tools being used lathe plane milling machine drill press casting band saw and TIG MIG Welding Participant Intel Ultimate Engineering Experience Summer 2013 Participated in a six week training program learning different aspects of engineering design and communications for future engineers Worked on team based projects such as creating an app using Java HTML 5 and programming quad copters using what we learned from programming the application Professional Activities Manufacturing Director Hornet Racing Formula SAE Member Institute of Electrical and Electronics Engineer Member Society of Automotive Engineers Xiaomeng Christina Zhang OBJECTIVE Seeking an electrical engineering internship opportunity EDUCATION In progress B S in Electrical and Electronic Engineering California State University Sacramento CA GPA 3 84 Dec 2015 Associate in Science Mathematics June 2013 American River College CA Good Standing 2010 2013 Associate in General Science June 2013 American River College CA Highest Honors 2010 2013 RELEVENT COURSEWO
92. nt is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Cer L78S N I life augmented 2 A positive voltage regulator IC Datasheet production data Description The L78S series of three terminal positive regulators is available in TO 220 package and several fixed output voltages making it useful ina wide range of applications These regulators can provide local on card regulation eliminating the distribution problems associated with single point regulation Each type embeds internal current limiting thermal shut down and safe area protection making it essentially indestructible If adequate heat sinking is provided they can deliver over 2 A output current Although Features designed primarily as fixed voltage regulators these devices can be used with external e Output current up to 2 A components to obtain adjustable voltages and e Output voltages of 5 7 5 9 10 12 15 18 24V Currents e Thermal protection e Short circuit protection e Output transition SOA protection Table 1 Device summary TO 220 packages Part numbers Output voltage Dual gauge Single gauge L78S05C L78S05CV DG L78S05CV L78S75C L78S75CV DG L78S75CV L78S09C L78S09CV DG L78S09CV March 2014 DocID2148 Rev 8 1 35 This is information on a product in full production www st com L78S Diagram 1 Diagram Figure 1 Block diagram
93. o e GPA 3 56 e Graduating December 2015 Courses CMOS and VLSI Modern Communication Systems Intro to Circuit Analysis PCB Design Fundamentals Intro to Digital Signal Processing Intro to C Programming Semiconductor Physics Electronics Design I amp II Intro to Logic Design Machine Vision Probability and Random Signals Applied Electromagnetics Intro to Microprocessors Signals and Systems Network Analysis Intro to Feedback Systems Product Design Project Electromechanic Conversion Spring 2015 PROJECT EXPERIENCE Wijit Wheelchair One Hand Propulsion In progress Working in a four member team to develop a one arm operated wheelchair for Hemiplegic patients incorporating the Wijit lever drive system for rehabilitation and mobility 4 bit Flash ADC Design and layout of a 4 bit flash ADC incorporating bubble suppress logic and decode logic Great experience gained in Cadence Virtuoso Active Filter Design and analysis of an active filter with a specified gain and cutoff frequency DMM Member of a four person team that designed a Digital Multi Meter which could accurately measure voltage resistance and frequency using an Arduino microcontroller The user interface in the design was a keypad and an LCD Arduino Microcontroller Built a control system using the Arduino microcontroller which controlled water temperature and water level in a water tank KNOWLEDGE AND SKILLS Communication Organization Leadership e Excellent problem solving a
94. oooooononcccccncnnncnnnnnnnnnnnonononononononncnnnnnnnnnos 31 Figure 42 Third Iteration Caster Assembly Exploded View cccccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 31 List of Tables Table Falkenstein 8 Table IL Spring 2015 Sponsor Funded SDGHUIHE atan 9 Table III Non Sponsor Funded Spending and Grand Total for Project Spending 10 Table IV Project Feature Work Breakdown coccccccccccnnnnononooononoonnnnnnnnnnnnnnnnononanannnnnn ono nnnnnnnnos l4 Table V Project Frons Der Po auto nia 16 Table VI Hardware Operation TOS 32 Table VII Hardware Performance Tests 33 I INTRODUCTION Being able to freely move from place to place truly makes a person feel free Mobility is a key aspect to a person s rehabilitation and recovery There are many conditions such as muscular dystrophy strokes paralysis and amputation as well as injuries which limit the mobility of human beings The standard manual wheelchair has been a tremendous help in this issue but sadly disabled people with limited mobility do not receive enough attention Hemiplegics belong to the group of people with limited mobility since most have one side of the body being very weak or totally dysfunctional This means that using a manual wheelchair is virtually impossible for hemiplegic patients Not being able to move from place to place easily is probably one of the hardest thoughts to bear When a person is in a place of discou
95. or Dennis Dahlquist from our first semester lab and Professor Russ Tatro from the second semester consistently gave us feedback on what is needed to make our project a success Their feedback and guidance helped lead us towards the right direction in our project Dr Fethi Belkhouche and Professor Russ Tatro were available for the senior design students 1f they had any questions that needed clarification We also made contact with the Mechanical Engineering department Dr Patrick Homen Dr Rustin Vogt and Dr Akihiko Kumagai were a huge help with conceptualizing the mechanical aspects of the project We would like to have a special thanks to Mike Newton for assisting us on our design for the casters and for fulfilling our work order 40 Thank you letters Dear Brian Watwood Thank you again for being our industry sponsor for this project Discussing your project to the senior project group was very informative and our team enjoyed hearing about your vision to help rehabilitate hemiplegic patients We are convinced that our team will complete this project in a way that you have envisioned it or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear John Rhea Thank you again for assisting us and Brian Watwood for this
96. or Problem Statement Report e Presentation for our Problem Statement e Documentation on Design Idea Contract Report e Creating Work Breakdown Structure e Market Review and Presentation e Device Test Plan Documentation e Create a Project Timeline e Writing the end of term documentation e Writing the end of project documentation e Feature Presentation e Mid term Progress Review and Test Results Presentation e Deployable Prototype Review and Presentation e Weekly reports e Team member Evaluations reports C Individual Team Member Tasks to Complete Assigned Feature e Jonathan Evangelista was assigned to work on the wireless communication feature in addition to the servo and sensor feedback He performed tasks on coding for microcontrollers to complete wireless communication through the control user interface via Xbees He also helped 3D print the casing for the Lever arm powering charging system e Julio McClellan was assigned to work on the power system charging discharging design and testing He was also assigned to help coordinate with the mechanical team in terms of implementing the mounting design for the wheelchair Julio also provided lots of valuable input on the quick disconnect feature e Bogdan Svityashchuk was assigned to work on the battery voltage control and device testing He was the team s last team leader In addition to the power circuit construction and testing Bogdan has also been keeping
97. ortunately most of the risks were avoided and the problems that did occur were solved Some problems included the different project schedule of the Mechanical Engineers and getting parts on time before major deadlines These and other problems were effectively resolved 18 Highly likely Low likelihood Not likely Can Be Minimum Limited Jeopardize Catastrophic Tolerated Project Impact Fig 11 Risk Assessment Chart 14 B Possible Risk Mitigation Making a project modular is a possible way of mitigating certain risks This can ensure that the failure of one piece of hardware does not affect another piece of hardware Another approach is having a backup plan in case an essential part of the project fails Listed below are possible risk mitigation ideas for each area of failure 1 Hardware Failure e Wireless Communication Interference Essential to the mitigation of this risk is finding wireless modules which operate at a frequency furthest away from frequencies that are used by devices like heart monitors e Stress On the Servos Devising a way to have the servo connected to the caster only when a turn command occurs e Not Enough Battery Life Reducing the total current by taking out unnecessary parts which use power e Unexpected damage in critical design parts ex overheating Separating the devices so that failure of one does not affect another too much but also keeping in mind economical packaging
98. ound All characteristics except noise voltage and ripple rejection ratio are measured using pulse techniques tw lt 10 ms duty cycle lt 5 Output voltage changes due to changes in internal temperature must be taken into account separately Copyright 2000 2013 Texas Instruments Incorporated Product Folder Links LM340 N LM78xx 6 Submit Documentation Feedback XBee XBee PRO RF Modules XBee XBee PRO RF Modules RF Module Operation RF Module Configuration Appendices Product Manual v1 xEx 802 15 4 Protocol For RF Module Part Numbers XB24 A 001 XBP24 A 001 IEEE 802 15 4 RF Modules by Digi International Digi International Inc 11001 Bren Road East Minnetonka MN 55343 877 912 3444 or 952 912 3444 http www digi com 90000982_B 2009 09 23 AS Bee X Bee PRO RF Modules 802 15 4 v1 xEx 2009 09 23 Specifications Table 1 01 Specifications of the XBee XBee PRO RF Modules Performance Up to 300 ft 90 m up to 200 ft 60 m International variant Up to 1 mile 1600 m up to 2500 ft 750 m international variant Indoor Urban Range Up to 100 ft 30 m Outdoor RF line of sight Range Up to 300 ft 90 m eee VR CDU E Ge for International variant RF Data Rate 250 000 bps 250 000 bps Serial Interface Data Rate 1200 bps 250 kbps 1200 bps 250 kbps software selectabl
99. pable of 270 degrees of travel Rugged aluminum main body Includes cnc machined output horn with 10 32 tapped holes Thick mounting flange 0 125 inch 12VDC 3A power Weighs 2 2 lbm Dimensions inches 5 5 x 3 9 x 2 4 4 APPLICABILITY Torque shown in oz in units Duration is shown in milliseconds This document applies to the following part numbers The information contained in this document is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 Revision 03 4 1 STANDARD RED HOUSING SERVOS The following table applies to standard red housing servos These servos come with a 14 inch control cable with a standard RC connector installed Tinned leads are provided for 12V power connection These servos respond to RC PWM of 5V referenced to ground Part Number Time for 90 deg Gear Reduction i00600 1044 1 00800 Position 536 1 101853 1044 1 01854 Velocity 536 1 4 2 RUGGEDIZED BLACK HOUSING SERVOS The following servos feature extra sealing at cable entry and housing interfaces These servos come with a 120 inch 4 conductor control cable with tinned ends 4 2 1 PWM Control Rugged Servos The following table applies to black housing servos These servos respond to RC PWM of 5V referenced to gro
100. perating junction temperature Note 7 The SET pin is clamped to the output with diodes through 1k range is assured by design characterization and correlation with resistors These resistors and diodes will only carry current under Statistical process controls The LT30831 regulators are guaranteed transient overloads over the full 40 C to 125 C operating junction temperature range The LT3083MP is 100 tested and guaranteed over the 55 C to 125 C operating junction temperature range Note 3 Minimum load current is equivalent to the quiescent current of the part Since all quiescent and drive current is delivered to the output of the part the minimum load current is the minimum current required to maintain regulation Note 4 For the L13083 dropout is caused by either minimum control voltage VeontRoL or minimum input voltage Vu Both parameters are specified with respect to the output voltage The specifications represent the minimum input to output differential voltage required to maintain regulation Note 8 Load regulation is Kelvin sensed at the package Note 9 Current limit includes foldback protection circuitry Current limit decreases at higher input to output differential voltages Note 10 This IC includes overtemperature protection that is intended to protect the device during momentary overload conditions Junction temperature will exceed the maximum operating junction temperature when overtemperature protection is a
101. plish precise steering of the wheelchair since these motors can turn precisely the angle set by a programmer To perform this task a powerful servo is needed since the weight of a person in the wheelchair and the friction of the wheels with the driving surface will contribute to the resistance of turning It is predicted that directly connecting the shaft of a servo to the casters would be inconvenient since a lot of stress would be placed on the servo and possibly lead to its failure To prevent this problem the plan is to attach a gear of a much larger diameter directly to the casters and then have that gear controlled by the servo that will be attached to the wheelchair frame Figure 7 Wireless Communication Servo Feedback S E r Fig 7 Servo Connected to Gear 13 To control the turning of the servos a wireless system is proposed The user would have a control such as a push button or the twisting of the lever handle sending the appropriate control signal to a transmitter module which would wirelessly send out signals to a receiver connected to the motor control microcontroller The wireless communication would also allow for various customizable steering control methods such as mouth or body position control Completing the design to meet the goals of safe mobility and exercise would be a braking system to effectively stop the wheelchair The Wijit lever system contains a braking system which is activated when
102. ragement and cannot see an alternative to the problems improvements of the damaged part of the body seem unlikely since in this emotional state a person is not motivated to exercise or seek improvement On the other hand a disabled person that is able to move around the house or outside and be independent can have more hope in improvement and thus better chances of some degree of recovery Of course an electric wheelchair is a solution to the mobility problem of disabled people since people who have at least one healthy arm can operate it but this mobility solution lacks many aspects in the improvement of the disabled person An electric wheelchair helps these persons be more independent but often takes away the opportunity to be at least a little physically active and gain back strength in half of their body This of course can have many negative consequences for the patients and limit the recovery if it 1s possible The Wiyit Wheelchair is a better alternative to the electric wheelchair since in order for a person to move to certain destinations the person needs to do a little more than just pushing an input control The Wijit uses two levers that the person l moves back and forth to drive thus providing a wonderful opportunity for exercise and neuromuscular rehabilitation The same technique can be applied to help patients who have only one healthy arm such as hemiplegics A Wit designed for use with one arm can be very benef
103. ralleled to increase output current or spread heat on surface mounted boards Architected as a precision current source and voltage follower this new regulator finds use in many applications requiring high current adjustability to zero and no heat sink The device also brings out the collector ofthe pass transistorto allow low dropout opera tion down to 310mV when used with multiple supplies A key feature of the LT3083 is the capability to supply a wide output voltage range By using a reference current throughasingle resistor the output voltage is programmed to any level between zero and 23V DD PAK and TO 220 packages The LT3083 is stable with 10uF of capacitance on the output and the IC is stable with small ceramic ca pacitors that do not require additional ESR as is common with other regulators Internal protection circuitry includes current limiting and thermal limiting The LT3083 is offered in the 16 lead TSSOP with an exposed pad for better thermal character istics 12 lead 4mm x 4mm DFN also with an exposed pad 5 lead TO 220 and 5 lead surface mount DD PAK packages 42 LT LTC LTM Linear Technology and the Linear logo are registered trademarks of Linear Technology Corporation All other trademarks are the property of their respective owners TYPICAL APPLICATION VCONTROL 3 3V 1 5V to 0 9V at 3A Supply Using 3 3V VcontroL VCONTROL LT3083 Vout 0 9V IMAX 3A Set Pin Current Distr
104. rge 28 7 4v LiPo Battery 13 0Vdc 16 8v Battery Protection 12v DC Servo Circuit 12v Regulator 14 8v LiPo Battery Arduino Micro 5v Regulator 8 2v Battery Protection Circuit Joystick User Interface 7 4V LiPo Batte Arduino Micro Xbee Rx Tx Fig 25 Power Flow During User Operation 28 C Schematic Diagrams and Simulation R5 gt 02 sE Ro TT 2 1 3 3984 ai LM7805C 437 4mA EXET TT eeh lt R1 GERIT ZA 1N4740A n gt R2 6 474mA gt 415 4 1 4 4 0 Fig 26 Simulation of Servo Power Circuit 28 Figure 26 shows the simulation of our Servo Control Circuit when the battery has reached a low voltage of 13 0v 28 During prototyping we employed the use of a LM7812 circuit The schematic in Figure 26 shows a LT1084 linear regulator instead The LT1084 is a better component for this application than the LM7812 as it has a low dropout voltage and available current of SA The load resistor R1 in the circuit represents the Servo load The load resistor R2 in the circuit represents the Arduino load These load resistance values are not the actual load resistances of their respective assemblies and are only used to simulate maximum manufacturer specified current draw Xbee Rx Tx 26 6 5Vdc Fig 27 Simulation of User Interface Power Circuit 28 Figure 27 shows the simulation of our User Interface Circuit when the battery has reached a low
105. ribution problems associated with Internal Thermal Overload Protection single point regulation In addition to use as fixed e Internal Short circuit Current Limit voltage regulators these devices can be used with external components to obtain adjustable output e Output Transistor Safe Area Protection voltages and currents e P Product Enhancement Tested Considerable effort was expended to make the entire series of regulators easy to use and minimize the number of external components It is not necessary to bypass the output although this does improve transient response Input bypassing is needed only if the regulator is located far from the filter capacitor of the power supply The 5V 12V and 15V regulator options are available in the steel TO 3 power package The LM340A LM340 N LM78XXC series is available in the TO 220 plastic power package and the LM340 N 5 0 is available in the SOT 223 package as well as the LM340 5 0 and LM340 12 in the surface mount DDPAK TO 263 package Typical Applications Required if the regulator is located far from the power supply filter Although no output capacitor is needed for stability it does help transient response If needed use 0 1 pF ceramic disc Vout 5V 5V R1 Ig R2 5V R1 gt 3 lo load regulation L R1 R2 R1 L of LM340 5 Figure 1 Fixed Output Regulator Figure 2 Adjustable Output Regulator Please be aware that an important notice concerning avail
106. rol Step 3 Charging should take about 30 to 45 minutes Step 4 When charging is done flip the 3 way switches back to the center off position Step 5 Unplug the DC charger and you are ready to go X DESIGN DOCUMENTATION This section was meant to include documentation not included anywhere else in the report It is not used due to the fact that all significant information is documented in other sections 25 XI HARDWARE A Overview Our design is comprised of two separate units One unit interfaces with the user and takes in directional commands The second unit receives the commands and then controls position of the front caster wheel The electronic hardware used in each unit is listed as follows User Interface e 7 4v LiPo Battery e Battery Protection Circuit e 84v Regulated Charging Circuit e Xbee Transceiver e Arduino Micro e Manual 3 Way Toggle Switch Servo Control e 14 8v LiPo Battery e Battery Protection Circuit e 16 4v Regulated Charging Circuit e 12v Linear Regulator e 7 5v Linear Regulator e Xbee Transceiver e Arduino Micro e Manual 3 Way Toggle Switch During charging operation a single 18 5v DC Power Supply is used to supply the required charging power to each unit B Flow Charts 18 5v DC Power Supply 16 8v Battery Protection Circuit 16 8v 14 8v LiPo Regulated Charge Circuit Battery 8 2v Battery Protection 8 2v Circuit Regulated Charge Circuit Fig 24 Power Flow During Cha
107. rove backwards This slippage can be reduced or eliminated by first applying force to the lever before steering o Expected Results The servo will be able to turn with up to a 250 lbs load 3 14 2015 Servo Response Jonathan 3 14 2015 Pass Time Servo Load Limit Julio 4 14 2015 Pass Performance Mechanical Quick Steven 3 14 2015 Pass Disconnect Distance Limits 33 o Actual Results With a 250 lbs load no slippage was observed when the user picked up some speed before steering since less force 1s applied to the caster that way e 3 9 Mechanical Quick Disconnect o How much time it takes for a user to disengage the motor o Expected Results 1 min o Actual Results 30 60 sec e 3 10 Braking Distance o This test passed by using the brake of the Wu lever arm o Expected Results Upon braking it 1s expected that the chair will change its direction by a maximum of 2 inches of slipping distance o Actual Results Upon braking the wheelchair does not change direction at all at slow speeds At higher speeds shppage of up to 2 inches could be observed e 3 11 Ramp Braking Limits o The ramp test was done on two different ramps one with a 3 degree incline and the other one 6 degrees o Expected Results Going down a ramp the brakes will work without any swerving but going up the chair might swerve 3 6 inches when braking o Actual Results The chair could easily go up and down the 3 degree ramp Braking
108. s 16 and 19 13 Le WAP W k gt d x i A A LE P Fig 21 Correct Caster Electronics Fig 19 Motor Mo inted Correctly and Mounting 15 f Be careful to not over tighten any screws Aligned 13 or mounts as they may damage the wheelchair itself the mounts or box Once everything is secured connect the 5 pin connector from the box to the motor as shown in Figure 22 13 d Attach the caster electronics box to the support bar on the same side of the e wheelchair by using the connected mounts and screws Tighten until snug The mounts are shown with yellow arrows in Figure 20 13 m M i ss Pea Fig 22 Motor and Electronics Connection 13 ggf Fig 20 Caster Electronics Box Mounting 13 h Lastly install the fuse into the hole in the side of the box as shown in Figure 23 with a yellow circle 13 CH m n Le 4 WV A wm ev We xr 5 X Fig 23 Fuse Location 13 24 2 Powering On Step 1 The Motor Control Unit should be powered on first This unit is powered by flipping the switch to the O On position The switch is located on the back of the wheelchair The other position C Charge is used when charging the battery Refer to the charging section before charging the batteries Step 2 Next the Lever Arm Unit can be powered by flipping the switch to the O On position This swit
109. sessment of DMS records in TrackWise as they pertain to instrumentation Member of GNE Vacaville Emergency Response Team Genentech Contractor Calibration Specialist Planner 10 2007 02 2009 Contracted to assist in the transition from gMMS to SAP CalMan Based on performance and skills with SAP project was also contracted as a planner for the Chugai Actemra project and later the WRO Upgrade project As a planner implemented methods for management of GNE resources in SAP that prevented any impact to Class A Metric XOMA Instrumentation Technician Il 01 2007 10 2007 Responsible for calibration and repair of bio chemical manufacturing laboratory and utility equipment Duties included drafting of calibration SOPs establishing instrument tolerances coordination of outside resources and implementing work flows to better improve compliance Recognized as a senior level technician Alza Macroflux Equipment Coordinator 05 2006 02 2007 Responsible for management of cGMP and non GMP equipment and parts Duties included drafting and revision of SOPs and validation protocols equipment scheduling parts procurement installation and documentation Familiar with validation and change control process with respect to life sciences manufacturing equipment Strong knowledge of regulatory requirements as they pertain to calibration and metrology in the biotechnology industry Worked as a primary consultant in selection of future maintenance so
110. sign A Power Supply System LiPo Battery Power regulation 1 Hardware 2 LiPo Batteries the wheelchair wiring components voltage regulator various circuit components such as resistors and capacitors 2 Software N A 3 Who will do what The three members who are Electrical Engineering majors will be in control of wiring of the hardware along with power control and power regulation 4 Estimated total number of hours 40 5 Outcome We will determine this feature is working correctly be ensuring that there is efficient power to keep all the wheelchair features fully functional and can sustain the wheelchair user for a reasonable long period of time depending on the user without interruptions To do this we will conduct multiple tests once everything is hooked up to see how long these batteries can power this system Then we will make adjustments accordingly Ideally the entire powering system should survive the failure test without significant errors With the inclusion voltage regulation we can then provide enough voltage to the devices without overloading them and shorting the system B Controls User Interface 1 Hardware Up to 2 microcontrollers such as the Arduino Parallax Propeller Raspberry Pi or Beaglebone Up to 2 Abee shields modules or wi fi dongles push buttons or switch up to 2 servos motors Wiit arms 2 front wheelchair casters battery 2 Software Depending on the microcontroller platform t
111. t for them to use crutches and similar devices like walkers to move around A manual wheelchair even Wijit equipped also would not be a good tool since hemiplegics cannot control the steering of the wheelchair unless they are able to use their healthy leg for steering by guiding the caster It is hard to imagine that a 2 conventional type of wheelchair would be very comfortable or even safe for people with this disability B Emotional Benefits of Mobility and Independence A mobility solution would be crucial for people with hemiplegia since mobility is so vital to the healing process and rehabilitation The ability to move around independently can bring meaning into the life of a disabled person Nearly 10 million 5 2 of adults in the United States between the ages of 18 and 64 are classified with a walking disability 1 These people need someone to take care of them and take them places They have a need for a healthy and easy to use mobility device Independence is a key factor for a healthy emotional life since 1t gives confidence and purpose to people Some disabled people might feel like they are a burden to their caretakers and thus are negatively affected by these thoughts Giving the disabled a good choice of independent mobility is significant since it can make them realize that they are not useless and can live a purposeful and fruitful life People with limited mobility are at a greater risk of being obese or
112. that you have envisioned 1t or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear Fethi Belkhouche Even though you were not our senior design instructor we would like to thank you for being available for us to ask questions about the Computer Engineering and Electrical Engineering aspects of our project We are convinced that our team will complete this project in a way that you have envisioned 1t or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang 42 Dear Russ Tatro The team Tijiw is very grateful that you were our second semester lab instructor Your guidance and motivation helped us greatly Thank you so much for being so involved with our project and always pointing us in the right direction We greatly appreciate the timely feedback we received from you Senior design would not be as fun and challenging without you and we thank you for the lessons you have given us Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaom
113. the problem of mobility and rehabilitation Many types of individuals can use our one armed Wyit wheelchair electronic steering assistance system over a wide range of disabilities Including both young and old these disabilities could be diplegia hemiplegia paraplegia and quadriplegia However we will be narrowing the market of our product towards those who suffer from hemiplegia mainly those who are over 50 years of age or are military veterans It will also be marketed to those that will be prescribing the wheelchairs and assisting in the rehabilitation process such as physical therapists occupational therapists and family physicians B Target Customers 1 50 Adults Geriatrics There are many in the population of the United States that can be categorized as over the age of 50 and geriatrics The population of the United States is aging and many of them have existing disabilities or will experience a disability as they age According to a current population report for 2010 in the age range of 45 54 19 7 have some type of disability and the number increases all the way up to 70 5 for those 80 and above 16 The number of the U S population according to 2010 census data that use a wheelchair is 3 3 million 17 So not only are there older people with disabilities but there is a large number of wheelchair users as well which includes this older portion of our population Wheelchairs can provide mobility and a sense of i
114. tion contained in this document is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 Revision 03 TB 257 THRU ALL iX o 159 THRU ALL 0 32 UNF THRU ALL Figure 2 Multi Turn Torxis T RELATED PRODUCTS The following products are related to or accessories for this product The information contained in this document is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 Part Number i03637 Stainless output horn 316 8 PACKAGING DETAILS No power supply is included Spacers are supplied for flush mounting to plates to allow screw clearance The information contained in this document is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 9 CHANGE LOG Revision Date Description of Changes 130514 Document Initial Release The information contained in this docume
115. track of the team s 20 progress modifying the project timeline accordingly throughout the semester e Steven Trinh was assigned to work on the mechanical portion for the user interface and servo sensor feedback feature He helped communicate with the ME team working on the design of our mounting apparatus In addition he helped the team 3D print the casing for the servo assembly power system e Xiaomeng Zhang was assigned to work on power system voltage control and battery charging circuit design Along with Julio they finished the initial design and simulation of the circuit She also was assigned to gather essential electrical elements and constructed the charging circuitry prototype D Total Hours Spent by Feature In total 60 5 hours were spent to implement the power system voltage control and charging feature 57 hours were spent to implement the wireless communication feature 48 hours were spent to implement the user interface feature 75 hours were spent to implement servo sensor feedback feature and 14 hours were spent to implement the mechanical quick disconnect feature E Total Hours Spent by Team member Summing the total hours worked by each member throughout the design Jonathan Evangelista spent 510 hours Julio McClellan spent 264 hours second semester only Bogdan Svityashchuk spent 448 hours Steven Trinh spent 587 hours Xiaomeng Zhang spent 496 hours A grand total of 2305 hours were worked
116. und Torque shown in oz in units Travel is based on a 90 degree input signal standard servo signal Part Number i01855 om om 90 Poston LG 10441 i01800 800 em 90 Position 075 5361 270 Position 270 101856 1600 3200 1044 1 2 pS 2 536 1 01857 am em 1044 1 70 70 101859 104050 1600 om 990 Position 15 10441 i04060 am em 990 Position os 5361 i04290 em 3200 3510 Position LG 10441 104291 1 5 15 15 15 15 800 800 D 15 01860 Unlimited 160 800 00 4 2 2 Analog Control Rugged Servos The following table applies to standard black housing servos These servos respond to a 0 5VDC analog voltage Torque shown in oz in units Travel is based on a input of 5VDC The information contained in this document is the sole property of Invenscience LC Any reproduction in part or whole without the written permission of Invenscience LC is prohibited All rights reserved 2013 Invenscience Lc The science of invention Document Number 103943 Total Pages 7 Date 2013 07 16 i01300 1600 TI 3200 90 Position 1500 10441 101858 am 1600 90 Position 750 5361 5 PERFORMANCE TABLES 5 1 INPUT e Power Input power is 10 14 VDC up to 3A depending on load Red lead is motor power Black or brown lead is motor ground Observe proper polarity as reverse connection will damage
117. up and down was also comfortable and prevented the user from crashing into the sidewall Going up the 6 degree ramp was basically impossible without assistance Going down the steeper ramp was possible with the use of the lever arm brake XV SOFTWARE TEST PLAN AND RESULTS A Installation Tests For the installation tests the proper hardware had to be setup before the program code could be uploaded and tested on the Arduino Micros connected to the rest of the electronics The installation tests that were necessary were the lever arm electronics assembly and the caster electronics assembly 1 Lever Arm Electronics Assembly a Components Arduino Uno Xbee Transmitter Joystick 7 4V LiPo battery b Result All of the components are installed and present The electronics are encased in a 3D modeled and printed box 2 Caster Electronics Assembly a Components Arduino Uno Xbee Receiver 14 8V LiPo battery 12V Regulation circuit 7V Regulation circuit b Result All of the components are installed and present The electronics are encased in a 3D modeled and printed box B Operation Tests For the operation tests the lever arm microcontroller the Servo assembly microcontroller and the XBee communication were tested to ensure that everything was able to work correctly before integrating into the whole system These tests were performed by uploading the code to the respective microcontrollers 1 Lever Arm Microcontroller a D
118. ur team will complete this project in a way that you have envisioned it or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang Dear Mike Newton We would like to thank you for assisting us on making our motor mount Without your assistance we would have not gotten a mount that would work with the current design we have We are convinced that our team will complete this project in a way that you have envisioned it or even better Thank you again for allowing us the opportunity to work with you and answer some of our questions We look forward to seeing you soon Sincerely Team Tijiw Jonathan Evangelista Julio McClellan Bogdan Svityashchuk Steven Trinh Christina Xiaomeng Zhang APPENDIX B TEAM MEMBER RESUMES Jonathan Frank Evangelista ec cc el cc cc ll uu uu uu uu uu uu ll ll ll le Objective To learn about information security and software engineering while gaining more experience and knowledge in the engineering and Information Technology field and applying my engineering and computer skills to benefit government organizations Education e California State University Sacramento o Major Computer Engineering BS in progress Expected Graduation Spring May 2015 GPA 3 55 o CyberCorps
119. will include delivery of complete documentation and final report Team Member Arduino based Theremin 4 14 5 14 Built a Theremin musical instrument using Arduino with a team of four The project included design of an oscillating LC tank and a 7400 Series TTL IC to hold the antenna and the speaker Theremin is controlled using an antenna to sense the musician hand movements and closeness to control and shape the magnitude and frequency of use to send data to the Arduino The Arduino accurately transforms signals to sound as an output using a speaker Team Member Full Wave Rectified Turbine Motor Voltage Sampler 4 14 5 14 With a team of four built an Arduino based turbine driven windmill motor that produces a full wave rectified DC voltage Two Arduino micro controllers were utilized one to control the position of the windmill by attaching a servo motor to its base the second to validate and examine the voltages produced by the windmill s motor using Analog to Digital Converter program The servo positions 0 45 90 135 and 180 and reads voltages given the positions After one 0 to 180 degree cycle the program will compare the position data acquired and move the windmill to the position in which it produced the highest voltage The project also focuses on converting the AC voltage to DC voltage using a Bridge rectifier and a capacitor Manufacturing Lead Hornet Racing Project 9 13 Present Working with a team of engi
120. zip tie to secure the joystick to the top of the arm underneath the shift control facing forward as seen mounted to the lever arm in Figure 15 13 Be careful as to not over tighten the screws or the zip ties to minimize the risk of the plastic box cracking or breaking 2 the Caster With Gear To install the new caster ensure that the proper spacers are used 8 washers on top with a nut and 8 on the bottom with a nut and that the gear 1s secured to the bolt as shown in Figure 16 13 Fig 16 Spacers for Caster Gear 13 22 b Make sure that the caster when engaged is in the negative reverse position as shown in Figure 17 13 Fig 17 Negative Reverse Caster Position 15 3 Installing the Caster Electronics a Attach the motor mount to the side of the wheelchair that the lever arm electronics are attached and tighten until snug Secure the gear to the motor shaft once it is placed on the mount Make sure that one of the setscrews is on the flat part of the shaft to eliminate slipping as shown in Figure 18 13 Fig 18 Motor Mounted with Gear 13 Secure the motor to the motor mount in the engaged position with the two wing nuts and 2 bolts and pins making sure that the teeth of the motor gear engage 23 The box must be mounted upside down with the charging port and switch facing the rear of the wheelchair as shown in Figure 21 13 with the teeth of the caster gear as shown in Figure

Team 7 - One-Armed Wijit Wheelchair .by Evangelista, McClellan

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