WEEK 12

COMPLETING THE PROPOSAL AND PREPARATION FOR PRESENTATION  ON WEEK 13

For this week, there is not much of a progress for the project as I focus on the completion of the proposal and getting ready for the presentation on week 13. Also since my supervisor was on leave for 2 weeks time, the main task for my FYP is to get prepared for the presentation with slides and any necessary things to present to my assessor on next week.

WEEK 11 

TESTING ON THE ACTUATOR MOTOR AND UPDATING PROPOSAL

As previous mentioned from next week post, I have bought a 6" linear actuator motor for this project. This linear actuator motor is act as the balancing system on the seat of the wheelchair. 

The selected linear actuator motor from online purchasing

As you can see that this linear actuator motor have different type of length and different stroke length which also have different power supply. 

After the purchase of this linear actuator motor, I was instructed to test the linear actuator motor with a power supply to see whether the actuator motor is working or not. 

For my fyp proposal, I already done few part of it and still on the progress of writing on chapter 3 as it is a part of my progress on the pre-prototype design. 

So, on the following week the task given:

1) To complete the fyp proposal up to chapter 3

WEEK 10

CALCULATION METHOD BEFORE PURCHASING ACTUATOR MOTOR

For this week, like as mentioned from previous week which I need to make a calculation on the length of the linear actuator motor. The purpose of this calculation is to determine the suitable length of the linear actuator motor as the actuator motor has several type of length and stroke length. So this is when the  used wheelchair play a role as the reference for us to find the suitable length of the linear actuator motor. 

For the calculation method, Pythagoras Theorem is use to calculate the length of the maximum tilt of the linear motor that will be attached at the wheelchair. The process of the calculation start with taking the length of the wheelchair’s seat and determine the minimum and maximum tilting of the seat then the calculation method begin.

 The calculation is perform as below:

Upper view of the wheelchair seat that had been calculated

The wheelchair seat is calculated and the full length of the wheelchair’s seat is 40 cm. To place the linear actuator motor, only half of the wheelchair’s seat is required for next calculation process.

The maximum and minimum angle for the seat to tilt

This tilt angle is determined before proceed to buy the linear actuator motor which will be placed under the wheelchair’s seat. The minimum angle that has been determined for the tilting is 10° while for the maximum tilting angle is 35°.

Concept before applying the calculation

 

Pythagoras Theorem Triangle

Which were:

a = Half length of the seat

h = Half length of the seat

x = Maximum tilt of the seat

The Formulae used to find the maximum tilt of the seat, x is calculated using Pythagoras’s Theorem formula.

The value of maximum tilt of the seat would be 11.47cm, which then converted into inch to get 4.5 inch. This calculation used to determine for the length of the linear actuator motor, which has the maximum stroke length up to 10 inch.  While the full length of the linear actuator motor is 6 inch (15.24cm) to assemble with the wheelchair. 

So the selected length of linear actuator motor is 6" linear actuator motor which is the most suitable length to assemble with the wheelchair.

Next task that has given to me for next week:

1) Buy the 6" linear actuator motor 

2) Update on my FYP proposal Chapter 2 and Chapter 3

WEEK 9

USED WHEELCHAIR FOR REFERENCE

For this week, I was given a task to find a regular wheelchair or used wheelchair for my project. Fortunately i managed to find still in good condition wheelchair without purchasing it. This is one way for me to save cost as i still need to purchase other things for this project for next semester final year project 2. 

Illustration of the mentioned wheelchair 

While for the finding angle from the gyro sensor that I have done from previous week however still in progress. Unfortunately, during my meeting with my supervisor, he had tested the gyro sensor and identified that the gyro sensor that i bought were broken and cannot give the accurate value and reading of the angle. So my supervisor decided to hold for the finding on the angle from the sensor and focus on the hardware part.

 So my task for next week:

1) Make some calculation on the length of the linear actuator motor 
2) To purchase the linear actuator motor 
3) Study on finding the angle 

WEEK 8

PROGRESS ON FINDING THE ANGLE AND PROPOSAL

For this week, I continue with my calculation to find the angle from the gyro sensor which is to convert from angular velocity (from gyro sensor) to angle in degree. From previous week that i have show on how I obtained the angular velocity, so i continued the with some manual calculation using a table like this: 

Manual Calculation to find angle (SET 1- 4) 

Each of the table I constructed using the value obtained from the serial port. Here some explanation for each box/section:

i) Formula use = (2-1)*(256+256)/2 = 256 (numerical number)  

   *using this formula to get the manual number 

ii) Pink Box = Manual number (numerical number)

iii) Blue box = Angular velocity obtain from serial number of the arduino software

iv) Red Box = Total of the manual number to get 1 set of numerical number

I have made up until 16 set (16 table) to get 16 numerical number to perform next calculation which is integrating the numerical number. 

SET 5 - 8

        

SET 8 - 11

SET 12 - 16

Unfortunately I still need to understand the calculation with further information as it is not easy to do. So I still need to refer to my supervisor on how to perform the calculation. After a meeting, my supervisor advised me to use another method which can only be performed by using arduino software and MATHLAB software. I will search more on how to find the angle by using this 2 software as it is recommended by my supervisor.

For my proposal, I have done up until chapter 1 only and for the following week will start with chapter 2 and chapter 3, Inshaa Allah.

So my new task for the following week are to do:

a) FYP Proposal (Chapter 2 & Chapter 3)
b) Research on finding the angle using arduino and MATHLAB

WEEK 7 

RESEARCH AND TESTING FOR THE GYRO SENSOR

On Wednesday, 7/3/2018, I had my meeting with my supervisor for further discussion on my progress work for this final year project. After receiving the gyro sensor, I manage to test it to fulfill my task from previous week. The first thing that I need to do was to solder the gyro sensor’s pin.

Soldered Gyro Sensor

After the gyro sensor’s pin has been soldered, I had done some testing on the gyro sensor to find the angle produced from the sensor. The gyro sensor were connected to the Arduino Uno and the Arduino Uno board were connected to the laptop same like the previous testing of the gyro sensor.

Connection of Gyro sensor for testing

The coding for this gyro sensor testing:

Coding For Gyro Sensor testing

The result obtained from the gyro sensor can be shown at the serial port:

Result obtained from Serial Port shows the angular velocity of the gyro sensor

From the result that obtained from the serial port, the result were then imported into excel to convert into graph result.

Imported result from the serial sensor to excel to converted into graphical result

From that graph, it can be convert into angle in degree or radian. To find the angle, it need to perform some calculation which was from angular velocity (obtained from gyro sensor) into angle in degree or radian. However, I’m still stuck in this task and still in progress. My supervisor have suggested me to do some research on the calculation that involve the gyro sensor.

This were some info that I have found from the internet:

Reference Angle

“To measure the angle using the gyro we have to integrate the signal.
But why we have to do this? 
Because the gyro give us the angular rate, so a simple way to get the angle is have the angular rate multiplied by the time [angle = angle + w * dt]”

From the information, it shows how the angle can be obtained from the gyro sensor and converted into angle in degree. However, some of the method still cannot be used in my project so I only use some of the information as my references.

From what I have done through this week, new task had been given by my supervisor, such as:

      a) Performed a calculation to find the angle in degree

      b) Made a coding to show the angle in degree produced from the gyro sensor

      c) Do the Final Year Project (FYP) Proposal

That all for this week task.

WEEK 6

RESEARCH ON GYRO SENSOR

For this week, I did not manage to have a meeting with my supervisor. This is because the gyro that I have ordered online was still in delivery and expected to arrive on Thursday (1/3/2018). During the waiting time of the gyro sensor to arrive, I made some research on the previous task that I need to do which was to find the angle from the gyro sensor.

This were some of the link from the internet that I used to make as the reference to perform on the testing of the gyro sensor:

          i)  Simple Angle Meter Using adxl335 accelerometer arduino

      ii) Angle measurement using gyro accelerometer and ArduinoUno

     iii) arduino-5-minute-tutorials-lesson-7-accelerometers-gyros-imus-3634

That all for week 6 which I only manage to do some research before start to test the gyro sensor while waiting for it to arrive. For this week I did not do much, as I’m busy working on other assignment and others.