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CHAPTER- 1

INTRODUCTION

1.a. History

It is assumed that the idea of wheelchair was taken from the drawing of an artist

who make confucius in a chair fitted with two wheels and propelled by his pupil in

1680.

Figure.1 First Wheelchair

The earliest records of wheeled furniture was an inscription found on a stone slate

in China and a child’s bed depicted in a frieze on a Greek vase, both dating back

to the 5th century BCE. The first records of wheeled seats being used for

transporting the disabled date to three centuries later in China; the Chinese used

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their invented wheelbarrow to move people as well as heavy objects. A distinction

between the two functions was not made for another several hundred years,

around 525 CE, when images of wheeled chairs made specifically to carry people

begin to occur in Chinese art.

Later dates relate to Europeans using this technology during the German

Renaissance.

The invalid carriage or Bath Chair seems to date from around 1760.

In 1887, wheelchairs ("rolling chairs") were introduced to Atlantic City so invalid

tourists could rent them to enjoy the Boardwalk. Soon, many healthy tourists also

rented the decorated "rolling chairs" and servants to push them as a show of

decadence and treatment they could never experience at home.

Harry Jennings and his disabled friend Herbert Everest, both mechanical

engineers, invented the first lightweight, steel, collapsible wheelchair in 1933.

Everest had broken his back in a mining accident.

The two saw the business potential of the invention and went on to become the

first mass-manufacturers of wheelchairs: Everest and Jennings. Their "x-brace"

design is still in common use, albeit with updated materials and other

improvements.

With the advancement of technology the development continuously gone and

many conventional energy resources used to propel the vehicle designed for the

disabled people but when resources start to decay then a need was seen for

unconventional resources ,solar energy was on option for this and at first Haidar

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Taleb, a 47 year old man from UAE, displayed a rare combination of human spirit

and willpower by building a wheel chair for himself which runs on solar power.

1.a1. The First Wheelchair

No one really knows when the first wheelchair was invented, although there are

plenty who are willing to hazard a guess. What interesting is that wheelchairs

weren’t always invented for the right reason especially where the Romans were

concerned. Some believe it was the ancient Egyptians who were the first to use

wheelchairs. These were, however, simple handcarts used to push people around

nothing like the sophisticated chairs of today. The Chinese also invented chariot-

like wheelchairs around this time, although they were pulled rather than pushed.

The Romans, as one could imagine, were not inclined to equal rights for disabled

people. Instead they treated disabled people almost as bad as a certain US deputy

in Florida. The Romans invented wheelchairs not to extend people’s mobility, but

so that they could push disabled to the fields to work. They weren’t all bad, though.

Both Greek and Roman physicians prescribed transport for the sick. After a long

time in Spain, Philip II fabricated a wheelchair complete with foot rests, enabling

him to enjoy a daily wheel around the gardens.

1.a2. Self Propelled Wheel Chair

A young disabled watchmaker called Stephen Farfler built a three wheeled vehicle

to transport himself. This was the first self-propelled wheelchair. The next major

step forward took place in Bath with the imaginatively named Bath chair. This was

invented in 1783. These wheelchairs came in a number of different guises – they

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could be open or shut, and pushed or pulled. However, in one respect they were a

step back from Farflers’s invention – none of them were self- propelled. By

nineteenth century wheelchair users were propelling themselves by pushing at the

outer rim of the wheelchair. Of course, this meant getting their hands dirty.

1.a3. Electric Wheel Chair

The first electric chair was invented in 1890 in US, designed to kill criminals

through the application of electric shock. Britain engineers are working on a chair

with a different purpose in mind, and the first motorized wheelchair was invented in

1916 which was heavy and expensive. Until 1930′s, the wheelchair was rather

cumbersome device. They were bulky and while a lightweight wicker wheelchair

had been built, even this could not be easily transported, making travelling very

difficult for many wheelchair users.

1.a4. Modern Wheel Chair

The modern wheelchair began to take shape during late 19th century to early 20th

century with the advent of push rims for self-propulsion and slings for seat and

backrests. Harry Jennings and his disabled friend Herbert Everest, both

mechanical engineers, invented the first lightweight, steel, collapsible wheelchair in

1933. Mr. Everest broke his back in a mining accident. The two saw the business

potential of the invention and went on to become the first mass-manufacturers of

wheelchairs: Everest and Jennings. Their "x-brace" design is still in common use,

albeit with updated materials and other improvements.

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1.a5. Electric Wheel Chair

Modified Electric wheelchair is invented after WW2 by George Johann Klein, a

Canadian, for the injured war veterans. Electric wheelchair is considered to be one

of Canada's greatest inventions that have benefited mankind. George came up

with the electric wheelchair while he is with the National Research Council of

Canada in 1950s. The invention of electric wheelchair is a result of the need to

give independence and mobility. Today, the electric wheelchair has changed the

lives of millions by providing them a ray of hope that they can be as independent in

movements as normal people and gave them optimism in life. Electric wheelchairs

can also be called electric powered wheelchairs, motorized wheelchairs or power

wheelchairs. These wheelchairs have some disadvantages too (Frederick Walton

et al, 2010). Repairing an electric wheelchair consumes money and time. Another

drawback is its price. It is not affordable for a common man.

1.a6.Recent Developments

A recent development related to wheelchairs is the hand cycle. They are in variety

of forms, from road and track racing models to off-road types modeled after

mountain bikes. There has been significant effort over the past 20 years to develop

stationary wheelchair trainer platforms that could enable wheelchair users to

exercise as one would on a treadmill or bicycle trainer (Langbein, W Edwin et al,

1993; O'Connor, Thomas et al, 2002) Some devices are created that can be used

in conjunction with virtual travel and interactive gaming similar to an

Omnidirectional treadmill.

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1.a7. World's first solar wheelchair

Haidar Taleb, a 47 year old man from UAE, displayed a rare combination of human

spirit and willpower by building a wheel chair for himself which runs on solar power.

Being a person with polio since the age of 4 he did not stop from taking up this

challenge on this wheelchair, a piece of technological innovation.

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1.b. TYPES OF WHEEL CHAIRS

There are two basic types of wheelchairs:

Manual and Powered Wheelchairs

Manual wheelchairs: Are designed to transport a sick, injured or a disabled person

from one place to another, e.g.: in hospitals.

Powered wheelchair :Uses a motor attached to the wheelchair.

A 1993 report prepared by Rehabilitation Engineering centre suggests that the

selection of wheelchairs depends on one’s physical status, functional capabilities

and usage requirements.

Figure-2 Flow chart .1

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1.c. About Our Project

On the journey to mobility and freedom, motorized scooters and wheelchairs are

the tools to finish that journey. With scooters and wheelchairs, there is a small

inconvenience to mobility independence. The addition of some devices enables

persons with physical disabilities a comfortable travel beyond their own homes.

Technological advances in mobility scooter have led more options available. In the

past, many people disliked the idea of a mobility scooter because of low-life of the

battery. Nowadays, batteries have improved and they allow much longer periods of

driving without the need for a recharge. People started to purchase a mobility

scooter in order to lead a more comfortable and independent existence.

Considering a primary method to get around, they are perfect for people with

limited or no body mobility. They come in all shapes and sizes, not to mention the

multitude of additional features. When it comes to select a mobility scooter, one

must take into account the comfort, the available versions (foldable/utility) and the

speed. The incredible capacity to adapt to difficult circumstances has led to

wonderful inventions, particular beneficial to individuals with mobility problems.

Mobility scooters have changed the way in which people in wheelchairs are able to

maneuver. The powered scooters of today offer several advantages that were

previously unheard of in the mobility world. However, the power scooters also have

limitations that a person may not even think to consider. Today, more than half a

century later, electric wheelchairs have widened its role in helping the disabled.

Besides helping the permanently disabled to move around independently, it is also

used during the physical therapy of injured people who could not walk temporarily.

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An advantage of electric wheelchairs is that it can be recycled as long as the

motors are well maintained. Many do purchase used electric powered wheelchairs

as they are cheaper and still have a lifespan of at least 5 years. Electric powered

wheelchair is essentially powered by electric motors located at the rear of the

wheelchair. The motors run on batteries which can sometimes be a hassle for the

user as it requires recharging through a wall outlet. To overcome recharging

problem and also to take care of environment we have introduced solar panel to

charge the battery.

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1.d. Components Used In Solar Wheel Chair

Various components are used in solar wheel chair to make it a helping vehicle for

handicapped persons. These are listed below-

Solar panel (specifications)

Charger

Wheels(two 40 cm diameter wheels and two 14 cm diameter wheels for

steering)

Lead Acid Battery(14 volt)

DC motor(0.5 hp)

Steering mechanism (Ackermann with some modifications)

1.d1. Solar Panel

Solar panel refers to a panel designed to absorb the sun's rays as a source of

energy for generating electricity or heating.

A photovoltaic (in short PV) module is a packaged, connected assembly of typically

6×10 solar cells. Solar Photovoltaic panels constitute the solar array of

a photovoltaic system that generates and supplies solar electricity in commercial

and residential applications. Each module is rated by its DC output power under

standard test conditions, and typically ranges from 100 to 365 watts.

The efficiency of a module determines the area of a module given the same rated

output – an 8% efficient 230 watt module will have twice the area of a 16% efficient

230 watt module. There are a few solar panels available that are exceeding 19%

efficiency. A single solar module can produce only a limited amount of power; most

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installations contain multiple modules. A photovoltaic system typically includes a

panel or an array of solar modules, a solar inverter, and sometimes

a battery and/orsolar tracker and interconnection wiring.

Figure-3 Solar panel

1.d2. Charger

One of the problems with solar power is that the output of the solar panel is

variable. These solar charge controllers are designed to extract the maximum

amount of power available from the solar panels and deposit it in the battery. Solar

PV charge controllers take the uncertain voltage from a solar panel and condition it

to safely charge lead acid batteries. These solar PV charge controllers energy

harvesting, and a three-stage charging method, bulk, absorption, and float

(maintenance) charge, but due to the nature of solar panels these are different in

nature than a typical AC driven charger. They pulse charge the battery. During the

pulse the solar panel is virtually short-circuited to extract the maximum power from

the panel and also to allow the panel to work more efficiently. These solar charge

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controllers also protect your panels from discharging through the batteries after the

sun goes down. Solar charge controllers are necessary to protect your PV battery

investment.

Figure-4 Charger

1.d3. Wheels

A bicycle wheel is a wheel, most commonly a wire wheel, designed for a bicycle.

A pair is often called a wheelset, especially in the context of ready built "off the

shelf" performance-oriented wheels.

The first bicycle wheels followed the traditions of carriage building: a wooden hub,

a fixed steel axle (the bearings were located in the fork ends), wooden spokes and

a shrink fitted iron tire. A typical modern wheel has a metal hub, wire tension

spokes and a metal or carbon fiber rim which holds a pneumatic rubber tire.

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Figure-5 Wheels

And also two small diameter wheels caster are used. A caster (or castor) is an un-

driven, single, double, or compound wheel that is designed to be mounted at the

bottom of a larger object (the "vehicle") to enable the object to be easily moved.

They are available in various sizes, and are commonly made of rubber, plastic,

nylon, aluminium, or stainless steel. Casters are found in numerous applications,

including shopping carts, office chairs, and material handling equipment. High

capacity, heavy duty casters are used in many industrial applications, such as

platform trucks, carts, assemblies, and towlines in plants. Generally, casters

operate well on smooth and flat surfaces. The diameter of the caster used is 15cm

and thickness is 3.5 cm

These are made of plastic and provided 360 degree of rotation.

1.d4. Lead Acid Battery

The lead–acid battery was invented in 1859 by French physicist Gaston Planté and

is the oldest type of rechargeable battery. Despite having a very low energy-to-

weight ratio and a low energy-to-volume ratio, its ability to supply high surge

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currents means that the cells have a relatively large power-to-weight ratio. These

features, along with their low cost, makes it attractive for use in motor vehicles to

provide the high current required by automobile starter motors.

As they are inexpensive compared to newer technologies, lead–acid batteries are

widely used even when surge current is not important and other designs could

provide higher energy densities. Large-format lead–acid designs are widely used

for storage in backup power supplies in cell phone towers, high-availability settings

like hospitals, and stand-alone power systems. For these roles, modified versions

of the standard cell may be used to improve storage times and reduce

maintenance requirements. Gel-cells and absorbed glass-mat batteries are

common in these roles, collectively known as VRLA (valve-regulated lead–acid)

batteries.

Figure -6 Lead Acid Battery

Negative plate reaction:

Pb(s) + HSO4(aq) → PbSO4(s) + H+(aq) + 2e−

Positive plate reaction:

PbO2(s) + HSO−4(aq) + 3H+(aq) + 2e− → PbSO4(s) + 2H2O(l)

The total reaction can be written as

Pb(s) + PbO2(s) + 2H2SO4(aq) → 2PbSO4(s) + 2H2O(l)

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1.d5. DC Motor

A DC motor is any of a class of electrical machines that converts direct current

electrical power into mechanical power. The most common types rely on the forces

produced by magnetic fields. Nearly all types of DC motors have some internal

mechanism, either electromechanical or electronic, to periodically change the

direction of current flow in part of the motor. Most types produce rotary motion; a

linear motor directly produces force and motion in a straight line.

DC motors were the first type widely used, since they could be powered from

existing direct-current lighting power distribution systems. A DC motor's speed can

be controlled over a wide range, using either a variable supply voltage or by

changing the strength of current in its field windings. Small DC motors are used in

tools, toys, and appliances. The universal motor can operate on direct current but

is a lightweight motor used for portable power tools and appliances. Larger DC

motors are used in propulsion of electric vehicles, elevator and hoists, or in drives

for steel rolling mills. The advent of power electronics has made replacement of

DC motors with AC motors possible in many applications.

Figure-7 DC motor

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1.d6. Ackermann Steering mechanism

Ackermann steering geometry is a geometric arrangement of linkages in

the steering of a car or other vehicle designed to solve the problem of wheels on

the inside and outside of a turn needing to trace out circles of different radii.

It was invented by the German carriage builder Georg Lankensperger in Munich in

1817, then patented by his agent in England, Rudolph Ackermann (1764–1834)

in 1818 for horse-drawn carriages. Erasmus Darwin may have a prior claim as the

inventor dating from 1758.

The intention of Ackermann geometry is to avoid the need for tyres to slip

sideways when following the path around a curve. The geometrical solution to this

is for all wheels to have their axles arranged as radii of circles with a common

centre point. As the rear wheels are fixed, this centre point must be on a line

extended from the rear axle. Intersecting the axes of the front wheels on this line

as well requires that the inside front wheel is turned, when steering, through a

greater angle than the outside wheel.

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Figure-8 Ackermann Steering

1.d7. Braking Mechanism

There are different types of wheelchair brakes/locks. There are manual, auto-lock,

and disc brake systems. In this article I will discuss a few of the various kinds

stated to give you a better understanding of the differences and the specific use. Wheelchair locks are meant to keep the wheelchair in “park” while the user

transfers in or out of the chair. Wheelchair brakes help to slow or stop a wheelchair

when descending or turning. Many consider locks and brakes to be the same thing. I feel they are, but then

again I am not a wheelchair user. It is a good idea to have them installed on your

chair to avoid over exertion and fatigue when trying to stay in one location in

buildings or when performing your daily tasks, such as studying at a desk or doing

the dishes. Unnecessary counterbalancing to maintain a specific position can

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cause increased health risks and complications in the future.

Those who use their chairs for sports sometimes like to remove their wheelchair

brakes to avoid getting injured thumbs or hands. This can be dangerous, especially

if they don't put the brakes back on their wheelchairs when ready to return to

everyday activities. There are special wheelchairs for different sports.

Disc Brake System

The latest in technology uses a patented disc brake system so you can descend

ramps and hills, lock your wheels with finger-tip strength and enjoy increased

independence. Wheelchair users of all levels can use this technology to lock their wheels for safer

transfers. ADI Disc brake systems have a patented two piece hub design to maintain quick release wheels, uses a deceleration brake when

managing ramps, reduces pain by eliminating twisting and repetitive motion,

enhances safety and independence by allowing users to roll under desks and

tables and lock brakes with ease.

Figure-9 Disc Brake

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CHAPTER -2

LITERATURE REVIEW

2.a. DANIEL DOURTE, DAVID SANDBERG, TOLU OGUNDIPE, present a paper

on “ELECTRIC TRICYCLE: A.APPROPRIATE MOBILITY”:

The aim of this project is to add an electric power train and control system to the

current hand-powered tricycle to provide tricycle users with improved levels of

mobility. The design objectives required a simple and affordable design for the

power train and controls, a design that needed to be reliable, sustainable, and

functional The design of the Electric Tricycle is adaptable to the current hand-

powered tricycles with little modification. The design consists of an electric motor, a

drive system, motor and steering controls, and a power supply.

2.b. M.REDDI SANKAR, T. PUSHPAVENI, V. BHANU PRAKASH REDDY,

present a paper on “DESIGN AND B.DEVELOPMENT OF SOLAR ASSISTED

BICYCLE” Process.

The solar assisted bicycle developed is driven by DC motor fitted in front or rear

axle housing & operated by solar energy. The solar panels mounted on the

carriage will charge the battery & which in turn drive the hub motor. When the

bicycle is idle, the solar panel will charge the battery. This arrangement will replace

the petrol engine, the gear box & the fuel tank in case of a two wheeler or a chain

sprocket, chain & gear shifting arrangement of a conventional bicycle being used

by most common man. As a part of dissertation work, the solar assisted bicycle is

fitted with a dc hub motor on front axle of a bicycle with power rating of 250W and

with a travelling speed of around 25-30 kmph. It is provided with a pair of lead acid

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batteries of 35 Ah each, a photovoltaic solar panel with capacity of 20 watt, a

voltage regulator of 24v 10 Amp, accelerator and motor controller of 24v 25Amp.

There is also a provision for charging of the battery with 220-240V, AC wall outlet

supply, in case of poor solar supply due to cloudy weather.

2.c.N.SASIKUMAR, DR.P.JAYASUBRAMANIAM, present a paper on “SOLAR

ENERGY SYSTEM IN INDIA”. C.

Conventional energy sources like coal, oil, natural gas, etc., are limited in quantity,

and if these continue to be depleted at the present rate, these will be exhausted in

the coming decades. Energy demand is resulting in the creation of fossil fuel based

power plants leading to substantial greenhouse gas emissions having an adverse

impact on global warming and climate change Solar energy offers a clean, climate-

friendly, abundant and inexhaustible energy resource to mankind. The costs of

solar energy have been falling rapidly and are entering new areas of

competitiveness. Solar Thermal Electricity (STE) and Solar Photo Voltaic Electricity

(SPV) are becoming competitive against conventional electricity generation in

tropical countries Solar photovoltaic (SPV) cells convert solar radiation (sunlight)

into electricity. A solar cell is a semiconducting device made of Silicon materials,

which, when exposed to sunlight, generates electricity. Solar cells are connected in

series and parallel combinations to form modules that provide the required power.

2.d. ABDULKADIR BABA HASSAN, present a paper on “DESIGN AND

FABRICATION OF A MOTORIZED D.PROTOTYPE TRICYCLE FOR THE

DISABLE PERSONS”:

This project design is embodied on a motorized tricycle for disabled Persons. The

tricycle was specifically designed to suit wheelchair occupants of healthy Upper

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torso with pelvic to foot restraint. It is also designed to suit a commonly available

Wheel chair. The level of relationship between the disabled people in the society

has highly being jeopardized; therefore this project was designed to correct the

difficulties in mobility of the wheelchair users. The main aim of the project design is

to ease mobility for the physically challenged and also provide adequate comfort

they desire. Existing tricycles for the disables requires the disabled person to

dismount from the wheelchair onto the tricycle. The motorized tricycle in this

project is designed to overcome this problem by allowing the disabled person to

wheel up or down his wheelchair onto or down the tricycle. This is achieved using

a specially designed platform that allows the wheel chair to be wheeled up or

down. The prototype of this tricycle has been fabricated. The anthropometrics data

that need to be considered in the design of the platform and frame of the tricycle

have been taken into consideration at the design stage of the tricycle.

2.e. TILAKISWARAN A/L SAMURGAM, Present a paper on “DEVELOPMENT

OF BATTERY POWERED TRICYCLE”. E.

The main purpose of this project is to develop a battery powered electric motor

tricycle which can be used as a simple transportation and for economy reasons, to

develop a battery powered electric motor tricycle which can be used as a simple

transportation and for economy reasons. A motorized tricycle is a three wheeled

bicycle with an attached motor used to assist with pedaling. Generally considered

as a vehicle, tricycles are usually powered by electric motors or small internal

combustion engines and have function as electric bicycles. Some can be propelled

by the motor alone if the rider chooses not to pedal; while in others the motor will

only run if the rider pedals. Electric bicycles are generally powered by

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rechargeable batteries. These are normally charged from the utility supply (mains),

with perhaps the option of using the motor to effect regenerative braking or

charging while being pedaled or rolling downhill. Electric motorized bicycles are

either power-on-demand, where the motor is activated by a handlebar mounted

throttle, or pedelec (from pedal electric), where the electric motor is regulated by

pedaling.

2.f. YOGESH SUNIL WAMBORIKAR, ABHAY SINHA, Presents a paper on

“SOLAR POWERED VEHICLE”. F.

The renewable energy is vital for today‟s world as in near future the nonrenewable

sources that we are using are going to get exhausted. The solar vehicle is a step in

saving these nonrenewable sources of energy. The basic principle of solar car is to

use energy that is stored in a battery during and after charging it from a solar

panel. The charged batteries are used to drive the motor which serves here as an

engine and moves the vehicle in reverse or forward direction. The electrical

tapping rheostat is provided so as to control the motor speed. This avoids excess

flow of current when the vehicle is supposed to be stopped suddenly as it is in

normal cars with regards to fuel. This idea, in future, may help protect our fuels

from getting extinguished.

2.g. ARUN MANOHAR GURRAM, P.S.V RAMANA RAO, RAGHUVEER

DONTIKURTI, presents a paper on “SOLAR G.POWERED WHEEL CHAIR:

MOBILITY FOR PHYSICALLY CHALLENGED”.

Personal mobility means freedom for the physically challenged. One of the best

inventions in the medical field that helped both the elderly and the handicapped is

the mobility vehicle. The fact that they are no longer depending on someone else

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to perform daily duties is a big step forward. On the journey to mobility and

freedom, motorized scooters and wheelchairs are the tools to finish that journey.

With scooters and wheelchairs, there is a small inconvenience to mobility

independence. The addition of some devices enables persons with physical

disabilities a comfortable travel beyond their own homes. The present work

involves in design and fabrication of solar powered wheel chair. A motorized

wheelchair, power chair, electric wheelchair or electric-powered wheelchair (EPW)

is propelled by means of an electric motor rather than manual power.

2.g. SHUH JING YING, STEPHEN SUNDARRAO, presents a paper on

“POWER ASSIST HAND TRICYCLE WITH H.BATTERY FOR DISABLED

PERSONS”.

A hand tricycle is originally designed to be used by a disabled person with lower

extremity weakness but with power in his or her hands and arms. This tricycle is

modified by the addition of an electric motor and battery to help power the vehicle.

The functions of the original design are not altered. The battery, motor, speed

reducer and clutch are properly arranged. An additional sprocket is attached to the

drive wheel. The motor controller can adjust the speed in five different settings and

the tricycle can be driven forward or backward. They salvaged a lightweight tricycle

weighing about thirty pounds from a storage area. It was not in working condition.

The wheels are arranged with one fixed direction drive wheel in front and two

pivoting wheels for steering in the rear. Two handles beside the seat are used for

hand control of the steering. A large sprocket 25.4 cm in diameter located in front

of the driver is connected with two crank handles for the driver‟s hands to power

the vehicle.

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2.h. CHETAN MAHADIK, SUMIT MAHINDRAKAR, PROF. JAYASHREE DEKA,

presents a paper on “AN IMPROVED I.& EFFICIENT ELECTRIC BICYCLE

SYSTEM WITH THE POWER OF REAL-TIME INFORMATION SHARING”.

This paper presents the development of an associate degree "Electric Bicycle

System‟ with an innovative approach. The aim of this paper is to show that the

normal bi-cycle can be upgraded to electric one by some means– that including the

development of a regenerative braking system and innovative BLDC motor control.

The main components of the electric bicycle are brushless DC motor, motor

controller, photo-voltaic, dry cell battery and solar panel. Also throttle and extra

features such as horn, speedometer, and LED signal etc. The power source for

this system is given by dry cell battery. The output of dry cell battery is 48V. There

are multiple forms of charging source is used such as AC voltage through an

outlet, solar energy and mechanical pedal charging system. The source of battery

charging is photovoltaic solar panel and it is light weight. The solar panel output is

12V and 20 watt. Also they use mechanical pedal charging system, so dynamo is

use for this charging system.

2.i. QINGFENG SU, GENFA ZHANG, JIANMING LAI, SHIJUN FENG, AND

WEIMIN SHI, presents a paper on, J.“GREEN SOLAR ELECTRIC VEHICLE

CHANGING THE FUTURE LIFESTYLE OF HUMAN”.

Electric vehicle with more advantages of no noise, no pollution, saving energy and

reduce carbon dioxide emissions is to power-driven vehicle with a motor drive

wheels moving. Solar electric vehicle can make to reduce our greenhouse gas

emissions and other pollution. All advantages of solar electric vehicle make

research and application of solar electric vehicle as a “hot spot” of automotive

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industry and the trend of future cars. Solar electric vehicle is made of PV panels,

battery, electric motor, vehicle controller and vehicle body. Solar electric vehicle

drives using dual-mode of PV and battery hybrid. It can be achieved PV-driven and

battery-driven independently. In good sunny conditions, the full charge endurance

of solar electric vehicle can be increased about 35% substantially compared with

no PV panels. Solar electric vehicle can achieve low-carbon, energy saving,

environmental protection and true zero-emissions for the future of human life.

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CHAPTER -3

OBJECTIVE

About 10% of the global population, i.e. about 650 million people, have

disabilities .Studies indicate that, of these, some 10% require a wheelchair,the

reason may be any decease that they occur from their birth time or it can

be due to any accident which they face in their life time.For all this kind of

people we have designed our wheelchair which is based on solar energy and

automatic moving chair so that the people can live independently.

In 2003, it was estimated that 20 million of those requiring a wheelchair for

mobility did not have one. There are indications that only a minority of those in

need of wheelchairs have access to them, and of these very few have access

to an appropriate wheelchair.

Our motive is to provide them independent mobility for that they need a

wheelchair which can be easily provided to them and it should be not

expensive and also it should be based on the clean resources of energy for

recharging.

Our another motive is to make handicapped persons productive for their own

growth and also for nation it will enhance feeling of self -esteem among the

community. It will provide them respect from others. And finally they can live a

Normal life.

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Objective of this project is to fabricate a wheelchair that can fulfil the norms

decided by WHO.According to the World Health Organization,a wheelchair

is appropriate when it-

• meets the user’s needs and environmental conditions;

• provides proper fit and postural support;

• is safe and durable;

• is available in the country; and

• can be obtained, maintained and services sustained in the country at an

affordable price.

Our project is fulfilling all the decided norms by the WHO being environment

friendly,safe,less expensive and easily available.

Reason of selection of solar energy as a source of energy to make

wheelchair run

It is a renewable energy resource and it is fulfilling motto “SWATCH URJA

SWATCH PARYAWARAN”.

Energy is a common Man’s daily commodity. The increased population has

led to depletion of energy. The process of mankind has influenced the

subsequent exploitation of new sources of energy from time to time. The

utilization of coal, the development of hydroelectricity, the discovery of oil and

gas and the advents of nuclear energy are mile stones in human history. Each

new source supplemented the other and brought a performed change in the

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life style of people. The size of the balance of fossil fuels will be over within a

hundred years if not compensated with other sources of energy. Of all non-

conventional energy sources, solar energy holds the greatest promise as it is

abundant, renewable and pollution free. Its collection, storage on conversion is

also easy. Hence worldwide attention is now focused on various methods of

utilization of solar energy. All life on the earth depends on solar energy. The

solar energy that falls on India in one minute is enough to supply the energy

needs of our country for one day. Man has made very little use of this

enormous amount of solar energy.

And we are thinking that our objective is almost completed and there can be

some drawbacks which need further some modifications and study to make it

more efficient and worthy.

29

CHAPTER-4

METHODOLOGY

4.a. WORKING OF SOLAR WHEEL CHAIR

The methodology or working of solar wheel chair can be understood easily by

a flow chart. The working is nothing but simply the conversion of slar energy

into mechanical energy followed by many intermediate conversions which are

shown below-

Sun –it provide solar energy that will fall on solar panel.

Solar panel- it will absorb solar energy and convert it into electrical

energy by p-n junction.

Charge controller or charger- it will remove the variation in solar energy

and store electrical energy in the form of chemical energy in the battery.

Battery- it will store energy in chemical form and again convert into

electrical form.

Motor-it will convert electrical energy into mechanical (rotational) form

and make the wehicle run.

Wheels –they will rotate with the axle which is driven by chain gear

arrangement and cover distance.

Figure-10 Flow chart-2 (conversion of energy into various forms)

Solar energy

Electrical energy

Chemical energy

Electrical energy

Mechanical energy

30

Figure-11 Working Mechanism

4.a1. Sun

The Sun (in Greek: Helios, in Latin: Sol) is the star at the center of the Solar

System and is by far the most important source of energy for life on Earth. It is

a nearly perfect spherical ball of hot plasma, with internal convective motion

that generates a magnetic field via a dynamo process. Its diameter is about

109 times that of Earth, and it has a mass about 330,000 times that of Earth,

accounting for about 99.86% of the total mass of the Solar System. About

three quarters of the Sun's mass consists of hydrogen; the rest is

mostly helium, with much smaller quantities of heavier elements,

including oxygen, carbon,neon and iron.

31

The Sun is a G-type main-sequence star (G2V) based on spectral class and it

is informally referred to as a yellow dwarf. It formed approximately 4.6

billion years ago from the gravitational collapse of matter within a region of a

large molecular cloud. Most of this matter gathered in the center, whereas the

rest flattened into an orbiting disk that became the Solar System. The central

mass became increasingly hot and dense, eventually initiating nuclear

fusion in its core. It is thought that almost all stars form by this process.

Solar energy is radiant light and heat from the Sun harnessed using a range of

ever-evolving technologies such as solar heating,photovoltaics, solar thermal

energy, solar architecture and artificial photosynthesis.

It is an important source of renewable energy and its technologies are broadly

characterized as either passive solar or active solar depending on the way they

capture and distribute solar energy or convert it into solar power. Active solar

techniques include the use of photovoltaic systems, concentrated solar

power and solar water heating to harness the energy. Passive solar techniques

include orienting a building to the Sun, selecting materials with favorable thermal

mass or light dispersing properties, and designing spaces that naturally circulate

air.

The large magnitude of solar energy available makes it a highly appealing source

of electricity. The United Nations Development Programme in its 2000 World

Energy Assessment found that the annual potential of solar energy was 1,575–

49,837 exajoules (EJ). This is several times larger than the total world energy

consumption, which was 559.8 EJ in 2012.

32

4.a2. Solar Panel with Charge Controller The amount of electrical energy requirement is increasing rapidly with the

population growth and technology development. There are ways for

generating electrical energy using renewable and non-renewable energy

sources. Multiple advantages of solar energy are the key factors behind the

usage of solar energy for various purposes. It can be used for generating

electrical power with the help of solar panels and for storing the electrical

energy by charging the batteries or feeding into loads.

4.a3. Maximum Power Point Tracking technology (MPPT)

It is a most efficient method among various solar charge controllers such as

simple 1 or 2 stage controls, PWM control and MPPT charge controller.

Primarily consider a non-MPPT solar charge controller and don’t get confused

with sun tracking solar panel and solar charge controller. The sun tracking

solar panel is used to track the sun by mounting the solar panel on a motor

board such that maximum solar energy can be used during the day time. By

using this sun tracking solar panel system, we can increase the output by 15%

in winter and 35% in summer. The blow figure shows the block diagram of sun

tracking solar panel that consists of a dummy solar panel, a power supply

circuit, a microcontroller for controlling ULN2003A driver and stepper motor for

rotating the solar panel.

33

Figure-12 Circuit Diagram

34

4.b. Calculation

Taking Max. Speed of wheel chair as = 30 km/hr

RPM of shaft wheel(let say N) = 30X1000 = 3.14X 0.40XN

60X60 60

RPM = 398.8 = 400(approx.)

Power = 2X3.14 NT

60

Weight(on each wheel) = 60X9.81 = 588.6N

Torque = 588.6X1.5X10-2

= 8.82 Nm

Power = 2x3.14 x400 x 8.82= 370

60

= 0.5 Hp

Energy of Battery = 960 Whr

Time of Charging = 960 = 2.60 Hrs

370

Solar Panel Calculation

Total voltage of solar panel = 18 volts

Amperage of it = 5.5 to 6 Amp.

Power of Panel = Vx I= 18 x 5.5 = 99 Watt

= 100(Approx.)

35

Based on these Calculation , Specification are

• Size: 65x45x150

• Steering/Drive system: Handle Bar

• Height: 150cm

• Weight with System: 30-40 kg

• Seat: Cushioned

• Speed: 20-30 kmph

• Braking system: disc brake

Distance per fully charge: 77.8km

• Maximum load/weight capacity: 80 kg

• Tire size: 50 cm (bigger wheel)

18 cm (smaller wheel)

• Solar Panel: 100Watts(16.2 V, 6 amps)

• Batteries: lead acid battery, 12 V- 80 A-hr.

• Motor: 0.5 HP(DC)

• Charge controller: Solar based Multi Point Power Tracking(MPPT)

36

CHAPTER -5

FABRICATION STEPS

• STEP 1– Frame Preparation

• STEP 2– Installation of front and rear wheels.

• STEP 3– Steering Mechanism

• STEP 4– Braking Mechanism

• STEP 5– Installation of Motor and Battery

• STEP 6– Mounting of Solar panel at head of wheel chair

5.a. Step1-Frame Preparation

The frame is that most important part which holds all components used to unote

them and convert ithem into an important and usable machine or device.

Typically, a wheelchair consists of four wheels: two large wheels in the rear, which

are used for propelling the wheelchair, and two small wheels in the front, which

swivel and are called casters. The large wheels support the majority of the

individual’s weight and provide the primary means of propulsion. The casters

facilitate manuverability. Traditionally, wheelchairs are divided into two categories:

manual and electric-powered. Those categories are defined by the mechanism

used to propel the wheelchair. A manual wheelchair is propelled by human power,

and an electric-powered wheelchair is propelled by an electrically based power

source (typically a battery and electrical motor). A wheelchair is powered either by the individual using the wheelchair or by an

assistant. The most commonly recognized wheelchairs are seen at hospitals and

nursing homes. Individuals who have the strength and endurance to independently

37

propel the wheelchair typically use manual wheelchairs. They can propel the

wheelchair in different ways. For instance, individuals with a spinal cord injury can

use their upper extremities. Individuals who have had a stroke that affects only one

side of the body can use one upper extremity and one lower extremity. Individuals

who have neither the strength to walk without a walker or cane nor the endurance

to walk with one can use their lower extremities. An assistant or attendant propels

the manual wheelchair when individuals cannot do it themselves.

Figure-13 Frame

Material Another feature that distinguishes wheelchairs is the type of material used. Initially,

manufacturers used steel in all manual wheelchairs (primarily mild steel) because

of its low cost and ease of machinability. Later there were numerous advances in

38

the materials used to manufacture wheelchairs. Most modern wheelchairs are

made using primarily steel, aluminum, and titanium.

Steel is limited to standard wheelchairs that have folding-frame mechanisms.

Aluminum is used throughout the wheelchair industry, primarily in ultralight

wheelchairs and some lightweight wheelchairs. Aluminum has a higher strength-to-

weight ratio than mild steel, thereby reducing the overall weight of the wheelchair,

and it has the added advantage of being resistant to corrosion.

Titanium has been used in ultralight manual wheelchairs, further reducing the weight

because of its high strength-to-weight ratio. Titanium also is resistant to corrosion. The

key limitations of titanium are its relatively high material costs compared with steel and

aluminum and the greater difficulty in machining or welding titanium.

Structure Raw Material below sheet-

Steel members with at least equal bending stiffness and bending strength to 1018

steel having a circular cross section with a 2.5 cm (1 inch) outer diameter and a

wall thickness of 3.05 mm (.120 inch). Reason behind selection is high strength to

weight ratio(55-60kN-m/kg) ,high tensile strength (470 MPa UTS,400 Mpa yield

strength)at low cost.

Structure material above sheet –

GI pipes with outer diameter 1.75 cm (0.5 inch) with thickness of 2 mm (.08 inch)

reason of selection is low weight per meter(.947 kg/meter).

39

5.b. Step2-Installation Of Front And Rear Wheels

The wheels are usually spooked (wired) or molded (mag). Wheel sizes usually

range from about 30 to 66 cm (12 to 26 inches) in diameter, depending on the

purpose of the wheelchair. Molded wheels have low maintenance requirements.

However, they are significantly heavier and less responsive than spooked wheels.

The casters range in size from about 7.6 to 23.8 cm (3 to 9 inches) in diameter,

with the majority falling in the 12.7- to 20.3-cm (5- to 8-inch) range. The caster tires

can be solid rubber or pneumatic but are limited to either mag or solid hub wheels.

5.c. Step 3– Steering Mechanism

Basically Ackermann steering mechanism with a handle bar operated, is been

adopted in the wheel chair.There are no. of turning pair in the system to control the

movement of wheel chair.Basic advantage of it is to avoid the need for tyres to slip

sideways when following the path around a curve.Reason of selecting this steering

mechanism is presence of all turning pairs which reduces wear and tear.

5.d. STEP 4– Braking Mechanism

We have used disc brake system. A Disc brake is a type of brake that uses

calipers to squeeze pair of pads against a disc in order to create friction that

retards the rotation of shaft, such as a vehicle axle, either to reduce its rotational

speed or hold it stationary. Disc brakes can generate and transfer greater amount

of heat to the atmosphere; because most of the friction area of a rotor is exposed

to air, cooling is far more rapid than for a drum brake. The faster cooling makes

40

them better suited for high performance driving and reduces the likelihood of brake

fade.

Because of their shape, rotors tend to scrape off water more efficiently. Due to

their design, disc brakes are self-adjusting and do not need periodic maintenance.

5.e. Step 5– Installation Of Motor And Battery

Motor- .5 Hp power RPM- 800 rpm at 22.5 torgue Type- Brushless Direct current Motor( BLDC)

Battery- 12 volt

Figure-14 Motor and Battery Adjustment

5.f. Step 6– Mounting Of Solar Panel At Head Of Wheel Chair

After all fabrications we have mounted solar panel on top of the wheel chair to

provide it charging by the energy of sun.

41

CHAPTER -6

MACHINES AND EQUIPMENTS USED

6.a. Bench Grinding machine

A grinding machine, often shortened to grinder, is any of various power tools or machine

tools used for grinding, which is a type of machining using an abrasive wheel as

the cutting tool. Each grain of abrasive on the wheel's surface cuts a small chip from the

workpiece via shear deformation. Grinding is used to finish workpieces that must show

high surface quality (e.g., low surface roughness) and high accuracy of shape and

dimension. As the accuracy in dimensions in grinding is on the order of 0.000025 mm, in

most applications it tends to be a finishing operation and removes comparatively little

metal, about 0.25 to 0.50 mm depth. However, there are some roughing applications in

which grinding removes high volumes of metal quite rapidly. Thus, grinding is a diverse

field.

Figure -15 Bench Grinder Machine

42

6.b. Arc Welding

Arc welding is a type of welding that uses a welding power supply to create

an electric arc between an electrode and the base material to melt the metals at

the welding point. They can use either direct (DC) or alternating (AC) current, and

consumable or non-consumable electrodes. The welding region is usually

protected by some type of shielding gas, vapor, or slag. Arc welding processes

may be manual, semi-automatic, or fully automated. First developed in the late part

of the 19th century, arc welding became commercially important in ship building

during the Second World War. Today it remains an important process for the

fabrication of steel structures and vehicles.

Figure-16 Arc Welding

43

6.c. Angle grinder

An angle grinder, also known as a side grinder or disc grinder, is a handheld power

tool used for cutting, grinding and polishing. Angle grinders can be powered by

an electric motor, petrol engine or compressed air. The motor drives a geared head at

a right-angle on which is mounted an abrasive disc or a thinner cut-off disc, either of

which can be replaced when worn. Angle grinders typically have an adjustable guard

and a side-handle for two-handed operation. Certain angle grinders, depending on

their speed range, can be used as sanders, employing a sanding disc with a backing

pad or disc. The backing system is typically made of hard plastic, phenolic resin, or

medium-hard rubber depending on the amount of flexibility desired.

Figure-17 Angle Grinder

44

6.d. Hand Grinder

it is also a kind of cutter but it has a base on which it is fixed and cutter can be

moved up or down depending upon the requirements.

Figure-18 Hand Grinder

6.e. Ratchet Wrench Box

A wrench (or spanner outside of North America) is a tool used to provide grip

and mechanical advantage in applying torque to turn objects—usually

rotary fasteners, such as nuts and bolts—or keep them from turning.

Figure -19 Ratchet Wrench Box

45

6.f. Welding Rods

An electrode is an electrical conductor used to make contact with a non-metallic part

of a circuit (e.g. a semiconductor, an electrolyte, a vacuum or air). The word was

coined by William Whewell at the request of the scientist Michael Faraday from

the Greek words elektron, meaning amber (from which the word electricity is derived),

and hodos, a way.

Figure-20 Welding Rods

6.g. Bench Drill Machine

A drill is a tool fitted with a cutting tool attachment or driving tool attachment, usually

a drill bit or driver bit, used for boring holes in various materials or fastening various

materials together with the use of fasteners. The attachment is gripped by a chuck at

one end of the drill and rotated while pressed against the target material. The tip, and

sometimes edges, of the cutting tool does the work of cutting into the target material.

This may be slicing off thin shavings (twist drills or auger bits), grinding off small

46

particles (oil drilling), crushing and removing pieces of the workpiece (SDS masonry

drill), countersinking, counter boring, or other operations.

Drills are commonly used in woodworking, metalworking, construction and do-it-

yourself projects. Specially designed drills are also used in medicine, space missions

and other applications. Drills are available with a wide variety of performance

characteristics, such as power and capacity.

Figure-21 Bench Drill Machine

47

6.h. Pliers

Pliers are a hand tool used to hold objects firmly, possibly developed

from tongs used to handle hot metal in Bronze Age Europe. They are also useful

for bending and compressing a wide range of materials. Generally, pliers consist of

a pair of metal first-class levers joined at a fulcrum positioned closer to one end of

the levers, creating short jaws on one side of the fulcrum, and longer handles on

the other side. This arrangement creates a mechanical advantage, allowing

the force of the hand's grip to be amplified and focused on an object with precision.

The jaws can also be used to manipulate objects too small or unwieldy to be

manipulated with the fingers.

Figure-22 Pliers

6.I.Nut –Bolt Assembly

A nut is a type of fastener with a threaded hole. Nuts are almost always used opposite

a mating bolt to fasten a stack of parts together. The two partners are kept together by

48

a combination of their threads' friction, a slight stretch of the bolt, and compression of

the parts. In applications where vibration or rotation may work a nut loose, various

locking mechanisms may be employed: Adhesives, safety pins or lock wire, nylon

inserts, or slightly oval-shaped threads. The most common shape is hexagonal, for

similar reasons as the bolt head - 6 sides give a good granularity of angles for a tool to

approach from (good in tight spots), but more (and smaller) corners would be

vulnerable to being rounded off. It takes only 1/6th of a rotation to obtain the next side

of the hexagon and grip is optimal. However polygons with more than 6 sides do not

give the requisite grip and polygons with less than 6 sides take more time to be given

a complete rotation. Other specialized shapes exist for certain needs, such as wing

nuts for finger adjustment and captive nuts for inaccessible areas.

A bolt is a form of threaded fastener with an external male thread. Bolts are thus

closely related to, and often confused with, screws.

Figure-23 Nut-Bolt Assembly

49

CHAPTER 7

RESULTS AND DISCUSSIONS

To provide a cost effective mobility vehicle for the disabled, a solar powered wheel

chair is fabricated with the indigenous materials like iron bars, hub motors, casters,

bearings forks, accelerator and brakes. The wheel chair is powered by the

rechargeable battery of capacity 12V. A solar panel of 18V capacity one is

provided for charging the battery on grid. The cost of the wheel chair is Rs.25000.

The cost can be further minimized by using optimization techniques and improved

design methodology. A right hand steering mechanism is provided, which can be

even made a left hand depending upon the requirement. The entire body of the

wheel chair is given a rust free coat and is painted in metallic silver to give

aesthetic look. The height of the solar frame can be adjusted by using the

fasteners provided at the back rest.

50

CHAPTER 8 CONCLUSION AND FUTURE SCOPE The prototype of autonomous wheelchairs based on commercially available

motorized wheelchairs have been built using behaviour-based AI. The initial

prototyping went very rapidly an the size of the software is significantly smaller

than control programs for similar vehicles operating in the real world environment

implemented using conventional AI and robotics methodologies. One of the chairs

is now capable of travelling to its indoor destinations using landmark-based

navigation.

The performance of the prototypes indicates there is a cautious possibility today to

build a functional intelligent wheelchair that is practical and helpful to people with

certain types and degrees of handicap.

This project involves the design of an ergonomically designed electric wheelchair

for domestic use by Indian old aged people. Stair climbing functionality was the

main focus in its structure and mechanism. The product covered 3 modules viz.

seat, links and frame. Seat dimensions were calculated following the Indian

Anthropometric standards. The frame and wheels are designed and developed

through the mathematical calculations based upon from the statistical data of

dimensions of staircases in Indian houses. Form, functionality, technology and

architecture of the product are also evaluated. Digital Mock ups of individual parts

were developed in CATIA and assembled to form the final product. The stair

climbing mechanism is simulated in virtual environment. The physical and focused

prototype indicating the structure and functionality is developed using thermocol

51

material. The wheel carriers are developed by using Rapid Prototyping technique

(Fused Deposition Modelling) using ABS (Acrylo Butadiene Styrene) material.

Wheelchair is embedded with some additional features like integrated commode

facility, after gathering costumer requirements from different subjects.

The photovoltaic cell uses sun light directly. The battery is charged with electricity

provided by the large photovoltaic cell installed on the setup roof. Hydrogen for the

fuel cell is generated by a water electrolysis hydrogen generator, which is also

powered by the same large photovoltaic cell on the building roof. The energy

control system selects the optimal energy source to use based on various driving

conditions.

It was confirmed from the experimental results that the robotic wheelchair is able to

maneuver mainly using the photovoltaic cell when good moving conditions are

available (i.e. abundant sun light, a flat and straight course, and low speed). The

experimental results demonstrate that the robotic wheelchair is able to increase its

moving distance. When moving conditions are not optimal, the robotic solar

wheelchair uses energy from the fuel cell and the battery.

Improvements to the energy control system such as charging to the battery from

the photovoltaic cell on the wheelchair roof, power increase using a capacitor, and

hydrogen generation from waste biomass, must be addressed in future research.

52

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