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SMART CANE FOR VISUALLY
IMPAIRED PEOPLE
ALWANI BT ANNAS
BACHELOR OF COMPUTER SCIENCE
(NETWORK SECURITY)
UNIVERSITI SULTAN ZAINAL ABIDIN
2017
SMART CANE FOR VISUALLY IMPAIRED PEOPLE
ALWANI BT ANNAS
Bachelor of Computer Science (Network Security)
Faculty of Informatics and Computing
Universiti Sultan Zainal Abidin, Terengganu, Malaysia
MAY 2017
i
DECLARATION
I hereby declare that this report is based on my original work except for quotations
and citations, which have been duly acknowledged. I also declare that it has not been
previously or concurrently submitted for any other degree at Universiti Sultan Zainal
Abidin or other institutions.
________________________________
Name : ..................................................
Date : ..................................................
ii
CONFIRMATION
This is to confirm that:
The research conducted and the writing of this report was under my supervison.
________________________________
Name : ..................................................
Date : ..................................................
iii
DEDICATION
I would like to dedicate my project to my beloved mother and father, who have taught
me that everyone is human, no matter what they look like, or where they come from. I
would also like to dedicate this to my friends, especially Syuhada, Farah Hana,
Amalin, and Farah Wahidah, who have inspired me to do many things this year and to
try things I have never dared to try this year. Not to forget my respectful supervisor,
Dr. Aznida Hayati, who help me through a lot in my journey of finishing this project.
iv
ABSTRACT
According to World Health Organization (WHO) there are 285 million people are
visually impaired worldwide. The amount consists of 39 million blind people and 246
million of low vision. Today, the problem we face is that people who are blind or have
low vision often have difficulty in navigating the outdoor environment. They often
need assistance for their movement. Hence, this project is to propose a solution for the
blind people in navigating outdoor environment. The project develops device that uses
ultrasonic sensor to sense object located around the device. This device will help user
to navigate the outdoor environment easily without the help of any assistance.
v
ABSTRAK
Menurut Pertubuhan Kesihatan Sedunia (WHO) terdapat 285 juta orang yang cacat
penglihatan di seluruh dunia. jumlah yang terdiri daripada 39 juta orang buta dan
246 juta penglihatan rendah. Hari ini, masalah yang kita hadapi ialah bahawa orang-
orang yang buta atau mempunyai penglihatan sering mengalami kesukaran untuk
mengemudi persekitaran luaran. Mereka sering memerlukan bantuan untuk
pergerakan mereka. Oleh itu, projek ini adalah untuk mencadangkan penyelesaian
untuk rakyat buta dalam mengemudi persekitaran luar. Projek ini membangunkan
peranti yang menggunakan sensor ultrasonik untuk mengesan objek yang terletak di
sekitar peranti. Peranti ini akan membantu pengguna untuk mengemudi persekitaran
luar dengan mudah tanpa bantuan mana-mana bantuan.
vi
CONTENTS
PAGE
DECLARATION i
CONFIRMATION ii
DEDICATION iii
ABSTRACT iv
ABSTRAK v
CONTENTS vi
LIST OF TABLES viii
LIST OF FIGURES ix
CHAPTER I INTRODUCTION
1.1 Background 1
1.2 Problem statement 3
1.3 Objectives 3
1.4
1.5
Scopes
Limitation of Work
3
4
1.6 Expected Result 4
CHAPTER II LITERATURE REVIEW
2.1 Introduction 5
2.2 Ultrasonic Sensor 5
2.3 Related Works 6
CHAPTER III
METHODOLOGY
3.1 Introduction 12
3.2 Methodology Phases 12
3.2.1 Planning 13
3.2.2 Requirement Analysis 13
3.2.3 Design 14
3.2.4 Implementation 15
3.2.5 Testing 16
3.2.6 Deployment 16
3.3 Summary 16
vii
REFERENCES 17
viii
LIST OF TABLES
TABLE TITLE PAGE
2.3 First table in chapter 2 11
ix
LIST OF FIGURES
FIGURE TITLE PAGE
3.1 First figure in chapter 3 12
3.2.3 Second figure in chapter 3 14
1
CHAPTER I
INTRODUCTION
1.1 Background
There are many types of disabilities that are known in today’s world for
instance, physical disabilities, hearing-impaired, visually-impaired, and etc. Visually-
impaired people are the people that face the most risks compared to other disabilities.
The eyes are the main part of the body used by humans to avoid obstacles where it
performs automatic process with minimum cognitive effort. However, for the visually-
impaired, their vision needs to be substitute by either tactile sense or auditory.
According to Herman [1], one of the main problems of visually-impaired is that most
of these people have lost their physical integrity. They also do not have confidence in
themselves. This statement is proved by Bouvrie [2] in an experiment called “Project
Prakash”. This experiment tested blind people to fully utilize their brain to identify
sets of object.
According to World Health Organization (WHO) there are about 314 million
people are visually impaired worldwide. The amount consists of 45 million blind and
269 million of low vision. People of 50 years old and above are 82% of all blind. It is
said that 45 million visually impaired people depends on other human for navigation,
information dispensation, and ecological analysis. NES II (National Eye Survey)
conducted in 2014 in Malaysia, there are 216,000 became blind because of delays in
cataract surgery. It also caused 272,000 to be visually impaired. The second
commonest cause of blindness in Malaysia is diabetic eye disease where 10% blind,
and 6% with low vision. The third commonest cause of blindness would be glaucoma
where it caused 7% blind, and 2% with low vision.
2
Hence, the increasing of visually-impaired people led to the increasing of
development of assistive technology (AT). Blind cane is the most common AT used
by visually-impaired. According to Mazo and Rodriguez [3], the blind cane is one of
the assisting tools for the visually-impaired and it is really important. Traditionally,
the uses of blind cane focus on two major topics which are grip and arc. When
outdoor, a person’s pace is faster and more regular. Making it the proper way to grip
the blind cane is the palm facing up at waist height with the index finger pointing
along the cane and the remaining fingers and thumb wrapping around the cane lightly.
While indoors, the grip of the cane change in such a way the user is holding a pencil
where the grip is upright at the sternum height and closer to the body. With both grips,
the elbow is kept tucked close to the body. On the other hand, the material that is use
in traditional blind cane originally is made out of wood. As time goes by, aluminium
replaced the wood. However, aluminium bends and breaks easily. Thus, fibre glass
and carbon fibre replaced both wood and aluminium. Although fibre glass has a
reasonably price but it is heavier than carbon fibre. However, fibre glass could bend
slightly but it can return to its original shape. On the contrary, carbon fibre is more
expensive than aluminium and fibre glass. Although carbon fibre is lighter, but it
cannot bend and break easily.
However, independencies for the visually-impaired cannot be offered by this
walking blind cane anymore. Hence, as we move forward towards the modern world,
so does the technologies. As we can see there are so much ATs that had been
developed throughout the yearssuch as Laser Cane, Mowat Sensor, Nav Belt, Sens
Cap, Tyflos, Nottingham Obstacle Detector, Path sounder, Embedded Glove, Binaural
Sonic Guide and the Smart Cane itself. Most of ATs appeared in the form of the
White Cane. The purpose of developing assistive technologies is to minimize
accidents involving visually-impaired people as many as possible. According to
Chang and Song [4], when visually-impaired people walk into new environment, it
will be difficult for them to memorize the location of the object or obstacle. However,
for Nav Belt [5] it is use at the waist which it can cause damage to the neural system.
As well as the Sens Cap [5] is put on the head of users. It also can cause damage to the
neural system. Hence, they are not suitable ATs to be used by the visually-impaired.
Any assistive tools need to have the requirement of which it must be usable, portable,
affordable, handful and safe.
3
1.2 Problem Statement
The visually-impaired people tend to have a problem where they cannot
navigate freely in an environment either known or unknown to them. The existing of
Smart Cane should aim to help each visually-impaired people to navigate through
their daily motion. The use of Smart Cane should be optimized for usable and
affordable enough that can be easily use by all the visually-impaired. However, the
current problem that we face today is that the visually-impaired people tend to have a
problem where they cannot navigate freely in an environment either known or
unknown to them. Hence, the visually-impaired people will not have confidence and
also lost their physical integrity in themselves. We also can see that because the
visually-impaired people cannot navigate properly, they need to adapt to the walking
cane that they are using instead of the walking cane itself needs to adapt with them.
Thus, using the Smart Cane which will navigate the users more accurately with the
use of ultrasonic sensor and vibration motor attached to the model can eliminate the
problem faced.
1.3 Objectives
1. To develop an assistive technology model to help visually-impaired people to
navigate in an indoor environment.
2. To implement the design of the model into the Smart Cane.
3. To test and evaluate whether the Smart Cane is fully functioned.
1.4 Scopes
This project focuses on two scopes:
1. Scopes of project which is to navigate in an indoor environment only.
2. Scopes of user which is the visually impaired people.
4
1.5 Limitation of Work
This project is only limit in an indoor environment.
1.6 Expected Results
At the end of this project, the expected outcome from this project will be the
Smart Cane is fully developed, installed and functioned for users to use.
5
CHAPTER II
LITERATURE REVIEW
2.1 Introduction
Literature review is a text of scholarly paper, which includes the current
knowledge include substantive findings, as well as theoretical and methodological
contribution to a related works. There are a few devices related to Smart Cane.
However, most of the device did not meet the requirement that needed by the users.
2.2 Ultrasonic Sensor
Ultrasonic sensors are self-contained solid-state devices designed for non-
contact sensing of solid and liquid objects [6]. Ultrasonic sensors are mainly use as a
measuring device where it can measure the distance to an object by using sound
waves. It measures distance by sending out a sound wave at a specific frequency and
listening for that sound to bounce back. It is possible to calculate the distance between
the sonar sensor and the object by measuring the elapsed time between the sound
wave being generated and the sound wave bounced back. Ultrasonic sensors can
reflect on a surface with any shape and it is not affected by physical contact makes it
more accurate compare to other sensors [7]. According to Han and Hahn [8], the
distance and the measurement of ultrasonic sensors are highly reliable where it also
provides the relatives errors and variances of measurements that are within a
reasonably small range.
6
2.3 Related Works
Based on researches, there a few existing device found that help to assist
visually-impaired people. First, Smart Cane: Assistive Cane for Visually-impaired
People [9]. A research team designed a device called Smart Cane which helps
visually-impaired people to walk more confidently. This device communicates with
users through a voice alert and vibration which involves coding and physical
installation. The software that it uses is MPLAB which is an IDE for the Microchip
Technology Incorporated PICmicro microcontroller families. MPLAB is use to design
this device because it is the most compatible software for various kind of microchip
development. For the hardware requirement, this device uses ultrasonic sensors to
calculate the distance between obstacles and the device. It also uses microcontroller to
control the motion of the cane. Another hardware that is used is water detector to
detect the presence of water.
The design and development of this project is started with sensor selection
where a 40 kHz transmission ultrasound signal sensor is selected. Then, the design
process of the device is based on architecture. It is also placed with a circuit box
where the circuit is designed with a proto-board and printed circuit board (PCB). The
flowchart of the microcontroller is started with the ultrasonic input, continue to the
ADC process where the analogue data is converted to digital form. And when the
output is generated, the voice chip is reset. The process continue to the water sensor
input where if there is a presence of water, the buzzer is triggered. Finally, the buzzer
is reset. Next step of the design and development is where the development of PIC
configuration, voice alert, and circuit installation. Lastly, the device is tested for final
testing and the result for each analysis is represented as voice warning, result of
analysing the ultrasonic sensor, and result of analysing the water sensor.
However, there are a few problem arise in this project where the voice warning
might be confused because it might be too repetitive. The water sensor also has some
problem arise which is it can only detect water with 0.5 cm deep only and the water
sensor need to be wipe to stop the buzzer otherwise the water sensor buzzer cannot be
stopped.
7
The second research is Smart Cane for Visually Impaired People [10]. This
project uses camera where the captured image is send to the PC. It also has a
controller to intimate the type obstacles and the distance between the obstacles and
device is determined through voice. There are a few software and hardware used to
design the device which is ultrasonic transmitter and receiver, amplifier frequency to
voltage converter, PIC controller, camera, image processing unit, PC, RS232, LCD
display, voice board and speaker.
The system design of this device is started by installing a 40 kHz ultrasonic
transmitter that is generated by the oscillator. Then the received frequency output
from the transmitter is amplified. There are two stage of inverting amplifier where the
first stage is to improve the signal and the second stage is to provide the analogue
signal which is applied to the driver. It also uses a capacitor that acts as a filter to
avoid distortion in the signal. If there are any obstacles, the buzzer will get alarmed
through the relay driver unit. Also the camera will capture the image of the obstacles
where it is connected to the image processing unit. The image will be scanned. The
image that has been scanned will be registered into the system and the information
about the image will be announced through the speaker with the help of voice board
and the controller. The LCD display is used to display information about the system
where it is connected to the PIC controller. RS232 is used for image processing unit to
communicate with the PIC controller where the data sent from the RS232 as a time-
series bits.
The software is developed in embedded C language and MATLAB algorithm.
The algorithm for this device is as follows:
START
Initialize CAMERA;
Initialize LCD;
Initialize RS232;
Initialize ultrasonic sensor;
Get the images;
Analyse the images through algorithm;
Register the images;
8
Get the images;
Compare the images;
Get the distance from sensor unit;
If the distance = near initialize the buzzer;
Initialize the voice unit;
Announce the object type, distance and shape;
END
The resulted image capture is in many frames. There are original image,
accumulation array, raw image and raw image with line segments detected. The
purpose of this different illumination condition and codec is to generate different
voice signal for navigation.
The next research is Embedded Glove to Aid the Visually Impaired [5]. This
device is a bit different from the other device where it is a hand mounted tactile
obstacle avoidance system. It uses vibration mechanism feedback Sound Navigation
And Ranging (SONAR) by warning the users through vibration motors.
This device is basically a glove strapped to the wrist, embedded with ultrasonic
sensors, battery, microcontroller and vibrator motors. The energy consumption for the
whole system is controlled by a Photovoltaic (PV) panel where it is a very low power
consuming model that makes this device far more better than the others. The decision
of movement in the right direction is mainly made by the visually impaired person
wearing the glove. The possible range that can be detected by the ultrasonic sensor is
about 5 m. The feedback given once an obstacle is recognized is either through audio
or vibration. A tactile feedback is advised to use where the vibration mechanism of the
auditory signal can cause confusion to the user with the noise from the external
environment. Hence, the audio mechanism is used as an alternative mechanism.
The setup for this device is started with the proposed warning system which
includes ultrasonic modules (Module 1-3), PIC microcontroller (PIC16F628A), motor
driver (ULN 2003), vibrator motors (Vibrator 1-3) and a battery. First, three ultrasonic
modules and vibrator motors are used to detect obstacles from straight, left and right
direction. PIC16F628A act as a main controller to control the entire system and is
developed using Flowcode (v4.2.3.58) for PIC. Flowcode program allows easy
9
creation of programs by simply dragging and dropping icons. For the vibration motor,
a flat coin type coreless vibration motor is used due to its fast response, low operating
voltage range (between 2.7V and 3.3V), high speed at the rate of 1200 rpm, long life-
time and high performance for a silent paging signal for the warning system. The
speed of the vibration motor is controlled by PIC16F628A through Pulse Width
Modulation (PWM). ULN 2003 is use to drive the vibration motor successfully.
The result of this project can be seen through the analysis of performance of
HC-SR04 which is the ultrasonic modules.
The fourth research is Smart Cane [11]. This project uses vibration motor to
alert the user via haptic feedback. It also has an adjustable and ergonomic handle to
increase the comfort and ease of the cane. This device utilizes computer and sensory
technology to provide object detection capabilities and freedom of physical range. The
sensors and the motors are powered by an Arduino controller where it is one of the
easiest programmable electronic platforms for user to create prototypes.
An Arduino can make electronic input, output and sensory system functioned
with a breadboard and other piece of circuitry equipped to it. The Arduino uses C
based programming language which is very understandable to the user. Specifically
this device uses an Arduino Uno board. The sensors use in this device is
RadioShack® Ultrasonic Range Finder. This sensor sends out extremely high
frequency of sound wave.
The development of this device is started by making an adjustable handle and a
sensor that has been chosen is added to the handle. When obstacles are detected, a
specific distance is calculated by the sensor and it is send to the Arduino. Arduino can
access the data through the code release by the RadioShack® under GNU General
Public License. Then, an alert through vibration in the handle is send to the user. The
sensor can detect obstacles from the range of 3-400 cm and in the angle of 30°. For
the implementation of the feedback system, the vibration motor is housed in the
handle of the cane and is connected to the Arduino. Arduino will analyse data from
the ultrasonic sensor and the data is sent to the vibration motor in the form of
corresponding PWM duty cycle. The vibration motor will spin at different speed
according to the number of pulses. Certain delay between vibrations will read
10
different distance of the obstacles. The greater the delay means the greater the
distance. The result of this project can be seen in the Testing the Accuracy of the
Ultrasonic graph.
However, this device has certain issues with the motors where the PWM was
difficult to achieve because the setup of the device involves resistor, transistor, diode
and various pins from the Arduino.
The last research that can be found is Smart Cane for Blinds [12]. This project
uses an intelligent shared control system where the device itself is a mobile platform
to ease the use of cane for users. This device consists of two independently wheels
that is steered by the users itself. It also consist of three basic control modules which
are the first basic module called goal seeking module where it is a continuous fuzzy
controller to travel the cane from one point to the other. The second basic module is a
discrete event controller to avoid the users from obstacles while walking which is
called obstacles avoidance. The third basic module which is called the human
intervention module is a discrete command from the users. The users interact with the
cane through a joystick where it can move in four different directions which is
straight, turn left, turn right and stop. All the modules stated is shared through a
decision-maker module to select only one action at one time. This device is simulated
using MATLAB/SIMULINK environment.
Embedded control system and an array ultrasonic distance is placed on top of
the platform of the cane. The sensors are assumed to be digital to detect the presence
of obstacles. As for the wheels, they are set by separate servos which allow the wheels
to turn independently. Encoders are fitted to the wheels to allow position and speed of
measurement.
The intelligent shared control system of this device exists in two modes which
are Unknown Environment Mode (UEM) and Known Environment Mode (KEM). For
UEM the control objectives are goal seeking and obstacle avoidance. For KEM the
goal seeking is the user responsibility. Three different basic control modules are
proposed to satisfy the control requirement in both UEM and KEM modes which had
been stated before. As for decision-maker module, it apply different rule for UEM and
KEM.
11
The complete system is simulated using MATLAB 5.0/SIMULINK
environment. The fuzzy controller module which is the goal seeking module is
designed by the fuzzy logic toolbox. The end result of this project can be analysed
from the simulation gained.
Year Author Title Technique Description Similarities 2011 Mohd Helmy
Abd Wahab, Amirul A.
Talib, Herdawatie
A. Kadir, Ayob Johari,
A.Noraziah, Roslina M.
Sidek, Ariffin A. Mutalib
Smart Cane:
Assistive Cane for Visually-impaired People
MPLAB to develop the
source code of PIC
microcontroller
-Sensor selection -Design the architecture of the cane -Development of source code and physical installation
Uses Ultrasonic sensor
2013 Sankar Kumar S, Abarna J, Lavanya G,
Nithya Lakshmi S
Embedded Glove’ to Aid The Visually
Impaired
Pulse-echo method
-Sensor selection -Experimental setup -Distance measurement
Uses Ultrasonic sensor
2013 J.Ramprabu, Gowthaman.T
Smart Cane for Visually
Impaired People
Image Processing
method
-Consist of camera -Uses RS232 for Image Processing Unit to communicate with PIC controller unit
Uses Ultrasonic sensor
2014 Whitney Huang, Hunter
McNamara, Diana
Molodan, Amol Pasakar
Smart Cane
Pulse Width Modulation
-Sensors and motors are powered by Arduino controller -Uses Radishack Ultrasonic Range Finder sensor -Has an adjustable and ergonomic handle
Uses Ultrasonic sensor and Arduino
2014 Wahied Gharieb
Smart Cane for
Blinds
Decision-maker Module
-Consist of two independently wheels that can be steered -Consist of three basic module: goal seeking, obstacle avoidance, human intervention
Uses Ultrasonic sensor
12
CHAPTER III
METHODOLOGY
3.1 Introduction
Methodology is the outline of the way a process or task will be carried out.
Thus, the development of this device is carried out by applying the methodology of
Smart Cane development. The development of this project is carried out by applying
the methodology of Agile Development. Figure below shows the iterative and
incremental model that is chosen to develop the project. This model is chose because a
project can be developed through repeated cycle which is iterative. The project can be
proceeds if there are any changes in the middle of the project. This model consists of
six phases which are planning, requirement, analysis and design, implementation,
testing and deployment.
Agile
Development
13
3.2 Methodology Phases
3.2.1 Planning
The first step of the phase is planning where in this step included the
sensor selection for the cane. By reviewing from previous researches, the most
suitable sensor to use for this project is the 40kHz ultrasonic sensor (HC-
SR04) where it can at least produce 2cm diameter transmission by generating
2.4644 beams. The range of the ultrasonic sensor can go up to 1 meter and it is
free from audible noise that is below 20kHz and industrial noise which can go
up to MegaHertZ (MHz). This step also includes the development of Arduino
Uno and implemented coding from the arduino IDE. Planning is important to
develop the arduino board for the ultrasonic sensor to detect obstacles ahead.
The materials that is required for this project has been prepared.
Hardware
Arduino Uno
Mini bread board
Ultrasonic Sensor
Vibration Motor
Power cables
Toggle switch
Software
Arduino IDE
3.2.2 Requirement Analysis
In this step, a lot of information is gathered from literature review
which relates to Smart Cane, Ultrasonic Sensor and Arduino. The requirement
of hardware and software for this project has been listed in the planning step
for development. Some configurations for the arduino are filtered for the most
suitable distance to detect obstacles ahead.
14
3.2.3 Design
This step is required so that the flow of this project will be successful.
In this step, a design of a circuit will be explained as shown as in figure below.
The circuit is powered by Arduino Uno microcontroller along with a
mini bread board for the ultrasonic sensor, a toggle switch for the on and off
function of the cane, vibration motor to send out the output to the user and a
power supply.
Here are the connections for each part:
Ultrasonic VCC to Arduino 5v.
Ultrasonic GND to Arduino GND.
Ultrasonic TRIG to Arduino D12.
Ultrasonic ECHO to Arduino D11.
Buzzer RED to Arduino D8.
Buzzer BLACK to Arduino GND.
Vibrator motor pin 1 to Arduino D7.
Vibrator motor pin 2 to Arduino GND
9 volt battery RED to Toggle switch pin 1.
9 volt battery BLACK to DC male power jack(-).
Toggle switch pin 2 to DC male power jack (+).
Vibration motor
Ultrasonic sensor
Arduino Uno Toggle switch
15
3.2.4 Implementation
After the design has been develop, the configuration and the coding of
the arduino is implement. The circuit is installed. The coding for the vibration
includes delay between the vibrations to differentiate the distance of the
obstacles ahead. If else rules is used in the coding to differentiate the distances.
If there is any error or changes in the coding, it will be solved in this step. The
coding is as follows:
#define trigPin 13
#define echoPin 12
#define motor 7
void setup()
{ pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(motor, OUTPUT);
}
void loop()
{ long duration, distance;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
if (distance >= 200 || distance <= 0) // Checking the distance,
you can change the value
{
digitalWrite(motor,HIGH);
}
else {
digitalWrite(motor,LOW);
}
delay(500);
}
16
3.2.5 Testing
In this step the complete circuit will be test. If there is still error
occurred, it will be solved in this step. If there is any changes need to
implement, the project must start back at design step for revision flow.
3.2.6 Deployment
After the circuit has been completely installed without any errors, the
complete circuit will be attached to the cane.
3.3 Summary
In this chapter, the methodology of this project is explained. The flow of this
project followed the steps that needed to develop the Smart Cane. The requirement of
hardware and software is listed properly for the development of the Smart Cane.
17
REFERENCES
1. Herman N. J., “Deviance: The Symboli Interactionist Approach-The Making of
Blind Men”, Vol. 24, pp. 236-2 41, Dix Hills N.Y. General Hall, USA, 1999.
2. Bouvrie J. V., “Visual Object Concept Discovery: Observation in Congeniality
Blind Children, and a Computational Approach”, Elsevier Science, USA, 2007.
3. Mazo M. and Rodriguez F. J., “ Wheelchair for Physical Disable People With
Voice ,Ultrasonic and Infrared Control”, Autonomous Robots, Vol. 2, pp. 203-
224, 1998.
4. Chang C. C. and Song K. T., “Ultrasonic sensor data integrations and its
Application to environment Perception”, IEEE transaction on Ultrasonic, Vol. 1,
pp. 3-5, 2000.
5. S Sankar Kumar and others, ‘Embedded Glove ’ to Aid the Visually Impaired’,
International Journal of Electrical, Electronics and Data Communication, 1.1
(2013), 6–11.
6. Rockwell Automation.
7. A. Nurulnadwan, M.R. Nur-Hazwani, E. Erratul-Shela, and A.M. Ariffin, “The
Enhancement of Assistive Courseware for VisuallyImpaired Learners,” in Proc.
ITSIM. 2010.
8. Han Y. and Hahn H., “Localization and Classification of Target Surface Using 2
Pairs Of Ultrasonic Sensors”, IEEE International Conference on Robotic and
Automation, Detroit Michigan, pp. 1-2, 22 May 1999.
9. M Helmy Abd Wahab, Aa Talib, and Ha Kadir, ‘Smart Cane: Assistive Cane for
Visually-Impaired People’, IJCSI International Journal of Computer Science
Issues, 8.4 (2011), 21–27 <https://doi.org/1694-0814>.
10. J Ramprabu and T Gowthaman, ‘Smart Cane for Visually Impaired People’, 4.1
(2013), 24–28.
11. Diana Molodan, Rachel Rizzo, and Hunter Mcnamara, ‘Smart Cane’, 1–14.
12. W. GHARIEB and G. NAGIB, ‘Smart Cane for Blinds’, Proc. 9th Int. Conf. on
AI Applications, 2015, 253–62.
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