Cadeira de rodas motorizada controlada pela íris
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Tipo de documento: | Trabalho de conclusão de curso |
Idioma: | por |
Título da fonte: | Repositório Digital Unicesumar |
Texto Completo: | http://rdu.unicesumar.edu.br/handle/123456789/7570 |
Resumo: | Quadriplegia is a disease that acts on the motor system, preventing people from making movements with their limbs, making them entirely dependent on a second person to move around. To improve the quality of life and promote more independence, this work aims to develop a system that allows controlling a motorized wheelchair through the iris, dedicated to people with severe motor disabilities. For this, a low-cost solution was developed, which uses eye tracking to allow the interaction of the patient with the equipment. Such interaction occurs through a graphic interface, which in turn communicates with the system through serial communication. An electronic circuit board was designed to couple the software with the hardware, promoting interaction between the devices and the system. To control the motors, it was designed PI controllers with established parameters with and without pre-filter, controllers based on Ziegler and Nichols, Cohen-Coon and ITAE methods of open loop tuning and the robust controller with and without pre-filter. Infrared sensors were implemented to detect possible obstacles and intervene in the system, ensuring the physical integrity of the patient and the equipment. The graphic interface presented excellent communication with the system allied to the ITAE method tuned controller that was characterized after the practical implementation as the best in relation to others. |
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Cadeira de rodas motorizada controlada pela írisTecnologia AssistivaRobóticaControle com a írisDeficienteCNPQ::ENGENHARIAS::ENGENHARIA ELETRICAQuadriplegia is a disease that acts on the motor system, preventing people from making movements with their limbs, making them entirely dependent on a second person to move around. To improve the quality of life and promote more independence, this work aims to develop a system that allows controlling a motorized wheelchair through the iris, dedicated to people with severe motor disabilities. For this, a low-cost solution was developed, which uses eye tracking to allow the interaction of the patient with the equipment. Such interaction occurs through a graphic interface, which in turn communicates with the system through serial communication. An electronic circuit board was designed to couple the software with the hardware, promoting interaction between the devices and the system. To control the motors, it was designed PI controllers with established parameters with and without pre-filter, controllers based on Ziegler and Nichols, Cohen-Coon and ITAE methods of open loop tuning and the robust controller with and without pre-filter. Infrared sensors were implemented to detect possible obstacles and intervene in the system, ensuring the physical integrity of the patient and the equipment. The graphic interface presented excellent communication with the system allied to the ITAE method tuned controller that was characterized after the practical implementation as the best in relation to others.A quadriplegia é uma doença que atua no sistema motor, impedindo que as pessoas realizem movimentos com os membros, tornando-as inteiramente dependentes de uma segunda pessoa para se locomover. Para melhorar a qualidade de vida e promover mais independência, este trabalho tem por objetivo o desenvolvimento de um sistema, que permite controlar uma cadeira de rodas motorizada por meio da íris, dedicada à pessoas com deficiências motoras graves. Para tanto, foi desenvolvida uma solução de baixo custo, a qual utiliza o rastreamento ocular para permitir a interação do paciente com o equipamento. Tal interação ocorre por meio de uma interface gráfica, que por sua vez se comunica com o sistema por meio de uma comunicação serial. Foi projetado uma placa de circuito eletrônico para acoplar o software com o hardware, promovendo a interação entre os dispositivos com o sistema. Para controlar os motores, foi projetado controladores PI com parâmetros estabelecidos com e sem pré-filtro, controladores baseados nos métodos de Ziegler and Nichols, Cohen-Coon e ITAE de sintonia em malha aberta e o controlador robusto com e sem pré-filtro. Foi implementado sensores infravermelhos para detectar possíveis obstáculos e intervir no sistema, garantindo a integridade física do paciente e do equipamento. A interface gráfica apresentou excelente comunicação com o sistema aliada ao controlador sintonizado pelo método ITAE que se caracterizou após a implementação prática como o melhor em relação aos demais.UNIVERSIDADE CESUMARBrasilUNICESUMAROLIVEIRA, Igor Henrique do NascimentoOLIVEIRA, Igor Henrique do NascimentoMEGAN, Murillo VilelaRODRIGUES, AndersonSilva, Maicon Douglas Leles da2021-02-16T13:34:51Z2021-02-162021-02-16T13:34:51Z2021-02-16info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bachelorThesisapplication/pdfSILVA, Maicon Douglas Leles da. Cadeira de rodas motorizada controlada pela íris. 72p. 2020. Unicesumar - Universidade Cesumar: Maringá 2020.Presencialhttp://rdu.unicesumar.edu.br/handle/123456789/7570porinfo:eu-repo/semantics/openAccessreponame:Repositório Digital Unicesumarinstname:Centro Universitário de Maringá (UNICESUMAR)instacron:UniCesumar2022-03-29T17:26:24ZRepositório InstitucionalPRI |
dc.title.none.fl_str_mv |
Cadeira de rodas motorizada controlada pela íris |
title |
Cadeira de rodas motorizada controlada pela íris |
spellingShingle |
Cadeira de rodas motorizada controlada pela íris Silva, Maicon Douglas Leles da Tecnologia Assistiva Robótica Controle com a íris Deficiente CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
title_short |
Cadeira de rodas motorizada controlada pela íris |
title_full |
Cadeira de rodas motorizada controlada pela íris |
title_fullStr |
Cadeira de rodas motorizada controlada pela íris |
title_full_unstemmed |
Cadeira de rodas motorizada controlada pela íris |
title_sort |
Cadeira de rodas motorizada controlada pela íris |
author |
Silva, Maicon Douglas Leles da |
author_facet |
Silva, Maicon Douglas Leles da |
author_role |
author |
dc.contributor.none.fl_str_mv |
OLIVEIRA, Igor Henrique do Nascimento OLIVEIRA, Igor Henrique do Nascimento MEGAN, Murillo Vilela RODRIGUES, Anderson |
dc.contributor.author.fl_str_mv |
Silva, Maicon Douglas Leles da |
dc.subject.por.fl_str_mv |
Tecnologia Assistiva Robótica Controle com a íris Deficiente CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
topic |
Tecnologia Assistiva Robótica Controle com a íris Deficiente CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA |
description |
Quadriplegia is a disease that acts on the motor system, preventing people from making movements with their limbs, making them entirely dependent on a second person to move around. To improve the quality of life and promote more independence, this work aims to develop a system that allows controlling a motorized wheelchair through the iris, dedicated to people with severe motor disabilities. For this, a low-cost solution was developed, which uses eye tracking to allow the interaction of the patient with the equipment. Such interaction occurs through a graphic interface, which in turn communicates with the system through serial communication. An electronic circuit board was designed to couple the software with the hardware, promoting interaction between the devices and the system. To control the motors, it was designed PI controllers with established parameters with and without pre-filter, controllers based on Ziegler and Nichols, Cohen-Coon and ITAE methods of open loop tuning and the robust controller with and without pre-filter. Infrared sensors were implemented to detect possible obstacles and intervene in the system, ensuring the physical integrity of the patient and the equipment. The graphic interface presented excellent communication with the system allied to the ITAE method tuned controller that was characterized after the practical implementation as the best in relation to others. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-02-16T13:34:51Z 2021-02-16 2021-02-16T13:34:51Z 2021-02-16 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/bachelorThesis |
format |
bachelorThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
SILVA, Maicon Douglas Leles da. Cadeira de rodas motorizada controlada pela íris. 72p. 2020. Unicesumar - Universidade Cesumar: Maringá 2020. Presencial http://rdu.unicesumar.edu.br/handle/123456789/7570 |
identifier_str_mv |
SILVA, Maicon Douglas Leles da. Cadeira de rodas motorizada controlada pela íris. 72p. 2020. Unicesumar - Universidade Cesumar: Maringá 2020. Presencial |
url |
http://rdu.unicesumar.edu.br/handle/123456789/7570 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
UNIVERSIDADE CESUMAR Brasil UNICESUMAR |
publisher.none.fl_str_mv |
UNIVERSIDADE CESUMAR Brasil UNICESUMAR |
dc.source.none.fl_str_mv |
reponame:Repositório Digital Unicesumar instname:Centro Universitário de Maringá (UNICESUMAR) instacron:UniCesumar |
instname_str |
Centro Universitário de Maringá (UNICESUMAR) |
instacron_str |
UniCesumar |
institution |
UniCesumar |
reponame_str |
Repositório Digital Unicesumar |
collection |
Repositório Digital Unicesumar |
repository.name.fl_str_mv |
|
repository.mail.fl_str_mv |
|
_version_ |
1747771965054124032 |