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ArtiTrax II
2011 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

ArtiTrax is an articulated wheelchair with four-wheel drive. It was constructed in 2006 by nine students in a mechatronics project. The purpose was to create a wheelchair with improved off-road capabilities. By the end of that project, a person could control the wheelchair, either from the driver's seat, or remotely with an external joystick using the Bluetooth protocol. However, the ArtiTrax control algorithm was never completed and had a few issues. This master thesis is about converting the ArtiTrax wheelchair into a small scale research platform for articulated steering. To this purpose, an onboard PC is mounted, speed measuring encoders are attached to the motors, a wireless router ensures remote control capabilities, and the software is prepared to transfer data to and from an external computer. The vehicle uses CANbus as the main means of intervehicle communication. The software relies on the Generic Intelligent Machine network infrastructure (GIMnet). With a person in the drivers seat, ArtiTrax II behaves like an ordinary wheelchair by responding to the onboard joystick commands. When an external computer is connected to the ArtiTrax network, a custom controller can be implemented with the MATLAB software. The controller can be evaluated in realtime, with or without a driver, and is easy to modify as it is located on an external computer. No modifications has to be done on the ArtiTrax II platform. The external computer can connect with WLAN and be located in the wheelchairs immediate vicinity, or on the other side of the globe by using the Internet.

Place, publisher, year, edition, pages
Keyword [en]
Keyword [sv]
Teknik, Elektroteknik, Mekatronik
URN: urn:nbn:se:ltu:diva-45215Local ID: 2ef3e4d7-206a-40a9-a9cb-5846c3579ab5OAI: diva2:1018501
Subject / course
Student thesis, at least 30 credits
Educational program
Electrical Engineering, master's level
Validerat; 20110112 (anonymous)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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