MARC details
| 000 -LEADER |
|---|
| fixed length control field |
04267ntm a2200361 i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER |
|---|
| control field |
MY-KuUP |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
|---|
| control field |
20251125110000.0 |
| 006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS |
|---|
| fixed length control field |
t||||fr|||| 000 0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
|---|
| fixed length control field |
220316s2021 my a|||frm||| 000 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
THE0009168(Local) |
| Qualifying information |
hardback |
| 040 ## - CATALOGING SOURCE |
|---|
| Original cataloging agency |
UMP |
| Language of cataloging |
eng |
| Transcribing agency |
UMP |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
|---|
| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FTKEE .S25 2021 r Thesis |
| 100 1# - MAIN ENTRY--PERSONAL NAME |
|---|
| Personal name |
Salma Yaakub, |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
|---|
| Title |
Development of low cost autonomous wheelchair using gps for outdoor purposes / |
| Statement of responsibility, etc. |
Salma Yaakub |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
Kuantan, Pahang : |
| Name of producer, publisher, distributor, manufacturer |
UMP, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2021 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Date of production, publication, distribution, manufacture, or copyright notice |
© 2021 |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
xiii, 86 pages : |
| Other physical details |
illustrations (some color) ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD ROM |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Source |
rdacontent |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
|---|
| Media type term |
unmediated |
| Source |
rdamedia |
| 337 ## - MEDIA TYPE |
|---|
| Media type term |
computer |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
volume |
| Source |
rdacarrier |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
computer disc |
| Source |
rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
|---|
| File type |
text file |
| Encoding format |
PDF |
| Source |
rda |
| 500 ## - GENERAL NOTE |
|---|
| General note |
Faculty of Electrical & Electronics Engineering |
| 502 ## - DISSERTATION NOTE |
|---|
| Dissertation note |
Thesis (Master of Science) -- Universiti Malaysia Pahang – 2021 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc. note |
Includes bibliographical references |
| 520 3# - SUMMARY, ETC. |
|---|
| Summary, etc. |
Electric wheelchair has been widely used to facilitate and minimize the user’s effort to move independently. Users prefer to control the movement of the wheelchair on their own without any assistance. Although electric wheelchairs are considered a good solution to minimise the effort in independently moving the wheelchair, but unfortunately, electric wheelchairs are expensive in Malaysia. Moreover, most of the available electric wheelchairs in the market use only the joystick as control device. However, the joystick is not suitable for most cases. For example, blind users, users with mental disorders or with both hands paralyzed, are unable to hold and control the joystick. Such users still need to be assisted by others. However, other people will not always be available to help due to any constraints. Using other means of control devices may partially solve the issues but may not be entirely resolved. Therefore, wheelchair needs some improvement utilising smarter and low cost control system that can resolve some critical cases for example the users that are unable to use both their hands and legs. This research main focuses on developing a control system to allow wheelchairs to move autonomously from one point to another using Global Positioning System (GPS) while saving the cost to make it affordable for the users. The main problem in building an autonomous system is the accuracy and consistency of GPS reading. To solve that problem a simple algorithm is developed to improve the accuracy in positioning and path planning for the wheelchair. The averaging technique was applied in positioning to improve the accuracy and consistency of the GPS reading. The GPS positioning becomes more accurate as the averaging technique reduced the GPS reading to two consistent readings instead of five different readings. In terms of accuracy, the distance between the actual point and the GPS measured point had decreased from 4 meters to only 3 meters. The stop angle was adjusted by changing the setting for the stop angle’s constant because the wheelchair does not immediately stop at the desired turning point due to the Law of Inertia. The value of that constant has to be experimentally set according to error in turning angle. The suggested solution is by integrating rotary encoder with the compass. The constant kp= 60 pulses was applied in straight movement correction, and can be seen that the wheels always trying to balance each other. Experiments have been conducted to test the ability of the system and fulfil the task of reaching a pre-stated destination accurately. This wheelchair can be used for outdoor movement as the GPS is more accurate outside of the building. For instance, the users want to go to the nearest clinic or park within 1 kilometre from their home. This will save time as they don’t need to wait to seek for assistance |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
|---|
| Corporate name or jurisdiction name as entry element |
Faculty of Electrical & Electronics Engineering Technology |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Universities and colleges |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Theses |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Source of classification or shelving scheme |
Library of Congress Classification |
| Koha item type |
Thesis |