Bahir Dar University Bahir Dar Institute of Technology: Advisor:Mr - Eniyachew Date:-19/06/2015

BAHIR DAR UNIVERSITY
BAHIR DAR INSTITUTE OF
TECHNOLOGY
Faculty of Electrical Engineering
...................................................
Thesis On
Voice Controlled Wheelchair
...................................................
A project submitted to faculty of Electrical Engineering of Bahir Dar Uni-

versity in partial fulllment of the requirements for the Degree of Bachelor
of Science in Electrical Engineering [Communication and Electronics Engi-
neering]
Author
1. Matebie Gashu................500/02
2. Mengistu Baye................1307/03
3. Mignot Ayana..................1373/03
4. Mubarek Kebede..............1449/03
Advisor :Mr.Eniyachew
Date:-19/06/2015
Declaration of Authorship
We, Mignot Ayana, Mubarek Kebede , Mengistu Baye and Matebie Gashu,
declare that this thesis titled, ' Voice control wheelchair and the work pre-
sented in it are our own. We conrm that:
1. This work was done wholly or mainly while in candidature for a bach-
elor degree at this University.
Authors: Supervisor:
Mr. Eniyachew
Matebie Gashu
Mengistu Baye P. Manager:
Edimealem.G
Mignot Ayana
Mubarek Kebede Date:
i
Acknowledgment
We would like to thank our project supervisor, Mr. Eniyachew, for providing
the guideline with continues advices and feedback throughout the duration
of our work.
Our deepest gratitude goes to Mr. Tadie. for his great support. His valu-
able advice and constructive comments have been of great value throughout
the development of this project. We would particularly like to thank him for
his help in patiently teaching us machine learning program.
Our heartfelt thanks to Mr. Girmaw Abebe who gave us the opportunity
to work with him on this topic. His kindness and logical way of thinking
have been of great value for us. We appreciate his encouraging, guidance
and contribution which provided a good basis for the success of our work.
We would also like to express our appreciation for all Bahirdar University
institute of technology students for their support in providing sample voice
used for training and testing data for our system.
Finally, We would like to thank to all of our family members for their
understanding, encouragement and support, towards the completion of our
project.
Thank you so much!

May God Bless You All!
ii
Contents
Declaration of Authorship . . . . . . . . . . . . . . . . . . . . . . . i
Acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Acronym . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
1 Introduction 1
1.1 Background Information . . . . . . . . . . . . . . . . . . . . . 1
1.2 Statement of the Problem . . . . . . . . . . . . . . . . . . . . 3
1.3 Objectives of the Project . . . . . . . . . . . . . . . . . . . . . 3
1.3.1 General Objective . . . . . . . . . . . . . . . . . . . . . 3
1.3.2 Specic Objectives . . . . . . . . . . . . . . . . . . . . 3
1.4 Methodology Used in This Project . . . . . . . . . . . . . . . 4
1.5 Contributions of the Project . . . . . . . . . . . . . . . . . . . 5
1.6 Scope of the Project . . . . . . . . . . . . . . . . . . . . . . . 5
1.7 Limitation of Project . . . . . . . . . . . . . . . . . . . . . . . 5
1.8 Organizations of the Project . . . . . . . . . . . . . . . . . . . 6
2 Literature Review 7
2.1 Review of Controlling of Smart Wheelchair . . . . . . . . . . . 7
2.2 Review of Voice Recognition to Control a System . . . . . . . 9
3 System Design and Analysis 12
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2 Software part System Design and Analysis . . . . . . . . . . . 14
3.2.1 Joint Speech and Speaker Recognition Using Neural
Networks . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2.2 Arduino IDE code . . . . . . . . . . . . . . . . . . . . 27
iii
3.3 Hardware part System Design and Analysis . . . . . . . . . . 29
3.3.1 Control Unit . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3.2 Ultrasonic Sensor . . . . . . . . . . . . . . . . . . . . . 30
3.3.3 DC Motor . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.3.4 H-Bridge Driver Circuit . . . . . . . . . . . . . . . . . 38
3.3.5 Power Supply . . . . . . . . . . . . . . . . . . . . . . . 44
4 Results and Discussions 45
4.1 Software simulation results and discussions . . . . . . . . . . . 45
4.2 Hardware Simulation Result and Discussion . . . . . . . . . . 49
5 Conclusion and Recommendations for Future work 51
5.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.2 Recommendations for Future work . . . . . . . . . . . . . . . 52
Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
iv
List of Figures
1.1 Methodology for the work . . . . . . . . . . . . . . . . . . . . 4
3.1 Block diagram for General System . . . . . . . . . . . . . . . . 13
3.2 Block diagram of voice recognition system . . . . . . . . . . . 15
3.3 Block diagram for MFCC . . . . . . . . . . . . . . . . . . . . 18
3.4 Basic representation of neuron . . . . . . . . . . . . . . . . . . 22
3.5 Simple perceptron models . . . . . . . . . . . . . . . . . . . . 22
3.6 logistic activation function . . . . . . . . . . . . . . . . . . . . 23
3.7 Forward propagation . . . . . . . . . . . . . . . . . . . . . . . 24
3.8 Flow chart of our arduino code implementation . . . . . . . . 28
3.9 Ultrasonic sensor . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.10 Timing diagram for Ultrasonic sensor . . . . . . . . . . . . . . 33
3.11 DC series motor schematic . . . . . . . . . . . . . . . . . . . . 34
3.12 Road level block diagram . . . . . . . . . . . . . . . . . . . . . 36
3.13 H-Bridge Topology . . . . . . . . . . . . . . . . . . . . . . . . 39
3.14 H-Bridge Topology - Forward direction . . . . . . . . . . . . . 39
3.15 H-Bridge Topology - Reverse direction . . . . . . . . . . . . . 40
3.16 Connection of H-bridge and motor . . . . . . . . . . . . . . . . 41
3.17 Pulse Width Modulation Used For Motor Control . . . . . . . 43
4.1 Original voice data . . . . . . . . . . . . . . . . . . . . . . . . 46
4.2 After silence and noise removal . . . . . . . . . . . . . . . . . 46
4.3 After preemphasise . . . . . . . . . . . . . . . . . . . . . . . . 47
4.4 Power spectral of input voice data . . . . . . . . . . . . . . . . 47
4.5 Mel lterbank of input voice data . . . . . . . . . . . . . . . . 48
4.6 Mel frequency coecient for sampled voice data . . . . . . . . 48
4.7 General system simulation using Proteus . . . . . . . . . . . . 50
v
List of Tables
3.1 work plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
vi
Acronyms
ANN ................. Articial Neural Network
ASR ................. Automatic Speech Recognition
DCT ................. Discrete Cosine Transform
DFT ................. Discrete Fourier Transform
DSP ................. Digital Signal Processing
EOG ................ Electro Oculo Graphy
FFT ................. Fast Fourier Transform
LBG ................. Linde Buzo Gray
MFCC ................ Mel Frequency Cepstral Coecient
Mic ................. Microphone
ML .................. Maximum Likelihood
MOSFET........... Metal Oxide Semiconductor Field Eect Transistor
MSE ................. Mean squared error
NN .................. Neural Network
RAM ................. Random Accesses Memory
SVM ................. Support Vector Machine
VQ .................. Vector Quantization
vii
Abstract
This project is related to the Voice Controlled Wheelchair System by using
speech recognition module. The system is designed to control a wheelchair
using the voice of user. The objective of this project is to facilitate the move-
ment of people who are disabled or handicapped and elderly people who are
not able to move well. The result of this design will allow certain people to
live a life with less dependence on others. Speech recognition technology is
a key which may provide a new way of human interaction with machines or
tools. Thus the problem that they are faced can be solved by using speech
recognition technology to move the wheelchair. This can be realized with
used the microphone as an intermediary.
In this project, interface is designed therefore to develop the program

for recognizes a voice in turn controls the movement of wheelchairs. This
project uses Arduino uno control unit and Direct Current Motor to create
the movement of wheelchair.
The project has consisted of the following parts: Hardware, software, in-
terface. The hardware part design of this project is consists Arduino uno,
H-bridge motor driver, ultrasonic sensor, Direct current motor. The soft-
ware part also consists speech and speaker recognition system and arduiono
(c code) for control.speech and speaker recognition system implement us-
ing Matlab . and interfacing the software and hardware by creating serial
communication between our Laptop and arduino uno using USB cable. The
results and analysis of this project will describe in this report.
The results of this project show that this project can be used for future
research works and to design excellence project that meets market need and
public interest.
viii
Chapter 1
Introduction
1.1 Background Information
Today, more and more people are suering from losing their hands and legs.
Wheelchair is a very important necessity for the handicapped. Many or-
ganizations intend to design and create a more convenient wheelchair for
the handicapped. There are researches which use brainwave, eye movement,
eye blinking and many others method to move the wheelchair. Most of the
wheelchairs available in the market are self-controlled wheelchair or joystick
controlled wheelchair. These types of wheelchairs are only suitable for people
who have their hands to control the wheelchairs. For a person who lost their
hands and legs, they still have their voice. They can use their voice to give
commands to move the wheelchair. That is the motivation of as to do design
voice control wheelchair.
In order to benet the end users who have lost control of their upper
extremities due to injury, illness or disability, a speech recognition system is
designed to be one of the steering control components of the embedded sys-
tem [1]. The user can communicate with this type of system by giving voice
command. This voice command is predened for each operation supported
by the wheelchair.
Suppose, if operator is willing to go towards right side then he/she just

has to say right and after receiving this command the wheelchair will go in
right direction. Similarly, other commands such as start, stop, etc. can be
1
given.
Speech is probably the most ecient way to communicate with each oth-
er. This also means that speech could be a useful interface to interact with
machines. Voice recognition is a computer, software program, or hardware
device's ability to decode the human voice into digitized speech so it can be
understood by the computer.
Voice recognition is commonly used to operate a device, perform com-

mands, or write without having to use a keyboard, mouse, or press any
buttons. Today, this is done on a computer with automatic speech recog-
nition (ASR) software programs. Many ASR programs require the user to
"train" the ASR program to recognize their voice.
Speech recognition can be any kind like speaker independent speaker de-
pendent continues word isolate word speech recognition and so on in our
case we use speaker dependent (using joint speaker and speech recognition)
isolated-word speech recognition system. It has been noticed that the success
of isolated-word automatic speech and speaker recognition systems requires
a combination of various techniques and algorithms and steppes like speech
(data) collection, preprocessing, feature extraction and last but the most
work is neural network based multi class classication. Neural networks are
composed of simple computational elements operating in parallel. The net-
work function is determined largely by the connections between elements.
We can train a neural network so that a particular input leads to a spe-

cic target output. In speech and speaker recognition, the main goal of the
feature extraction step is to compute a parsimonious sequence of feature vec-
tors providing a compact representation of the given input signal.
Then after successfully recognizing(classify) the speech and speaker the

matlab send the analog number to the arduino by using serial communication
between matlab and arduino platform to control the direction of the motor
depending on the entry voice(command).
2
1.2 Statement of the Problem
A handicapped person with locomotive disabilities needs a wheelchair to

perform functions that require him or her to move around. He can't do so
manually by pushing the wheelchair with his hands. Hence it is desirable
to provide them with a motorized wheelchair that can be controlled through
voice commands. So this should be achieved at a cost that is aordable for
as many handicapped people as possible, as well as for organizations that
support them. With these requirements in mind we going to designing voice
control wheelchair for this system the main hard thing is speech recognition
part.
Generally this work is inspired by the handicapped person with locomo-

tive disabilities needs a wheelchair to perform functions that require him or
her to move around. So we were doing the neural network based speech and
speaker recognition system for isolated word automatic speech recognition
by extracting mel-frequency cepstral coecient(MFCC) as feature.
1.3 Objectives of the Project
1.3.1 General Objective

The main objective of this project is facilitate the movement of the disabled
people and elderly people who cannot move by designing intelligent voice
control wheelchair
1.3.2 Specic Objectives

Provide the facilities for disabled people and elderly people who can't
move properly.
To implement the voice user as an input to control the movement of
wheelchair.
To interface Arduino Uno with motor.
To interface Ultrasonic sensor and with arduino.
3
1.4 Methodology Used in This Project
Figure 1.1: Methodology for the work
4
1.5 Contributions of the Project
Independent mobility is an important aspect of self-esteem and plays a piv-

otal role in "aging in place" and paralyzed and it used in the hospital for
self-assistance.
1. It make life easy which means decibel peoples can use the wheelchair
which operated by voice command and they enjoy their life.
2. Energy Savings: a voice controlled while chair system would potentially
be able to make sure that, one can use without external interference
the human powered.
3. In addition the speech recognition system also used for other voice
operated system bay changing the training sate.
1.6 Scope of the Project
The scope of the project is designing the voice controlled wheelchair using
speech and speaker recognition system.
Develop code for isolated word speech and speaker recognition which rec-
ognize the word "jemir","kum","wode kegni", "wode gira" and "wode hoala"
and the speaker of this isolated word.
Designing the control part of the wheelchair chassis prototype using ar-
duino uno, H-bridge motor driver, and DC motor nally control the move-
ment of the wheelchair.
1.7 Limitation of Project
The limitation of the project is as follows

1. We are not design mechanical design of the wheelchair
2. We are not properly implement the hardware part
5
3. We do the hardware prototype properly
4. Our system nd more memory because we use two systems in one which
is speaker and speech recognition
5. We are not use machine vector algorithm which is more ecient speech
algorithm
1.8 Organizations of the Project
This project is composed of ve dependent chapters; in chapter one the intro-

duction Part of the project will be discussed. After this in the second chapter
related works presented and discussed their limitation And in chapter three
we discussed.
The software and the hardware part of our project.design analysis and algo-
rithm we used and how we select this algorithm will be discussed like how
we extract feature from the speech for ASR system, how MFCC work, and
how neural network work and how we develop a matlab code for all of this.
And in the hardware part we have discussed how we integrate the motor with
arduino, how we control the direction and speed of our motor and integrate
ultrasonic sensor with arduino. in chapter four the results which we get, tests
and discussion are done.
Finally we conclude based on the result we get and we will also recommend
for the feature work which we will do in the feature and any one can do in
the feature.
6
Chapter 2
Literature Review
In this chapter we tried to review litratures that related to speech recognition
system and smart wheelchair which are the basic part of our project.
2.1 Review of Controlling of Smart Wheelchair
A handicapped person with locomotive disabilities needs a wheelchair to

perform functions that require him or her to move around. Now in the world
so many power wheelchair is introduce and we try to review some of them
as follows:
1. Typical joystick controlled wheelchair: Controllers are most commonly
an arm-rest mounted joystick which may have additional controls to al-
low the user to tailor sensitivity or access multiple control modes. The
controller may be swing-away to aid in side-transfers. For users who
are unable to use a hand controller various alternatives are available
such as sip-and-pu controllers, worked by blowing into a sensor. In
some cases the controller may be mounted for use by an aide walking
behind the chair rather than by the user. Capabilities include turning
one drive wheel forward while the other goes backward, thus turning
the wheelchair within its own length [2].
Joystick controlled Power chairs may be designed for indoor, outdoor

or indoor/outdoor use. And this type of wheelchair is only used for
those partially disable [3].
7
2. Finger Movement Tracking Wheelchair: In this system, the wheelchair
can be controlled by a combination of three ngers. One nger controls
the speed of the wheelchair while the other two ngers control the di-
rections of the wheelchair. There is exibility that we can use only two
ngers instead of three to control the direction while letting the system
to control the speed automatically. For the purpose of tracking the
movement of ngers, the ex-sensors are used. The nger movement
tracking system revolves around ex sensor. Flex sensor is basically a
resistive strip whose resistance is directly proportional to bending. The
ex sensor is worn on the nger and the bending of the nger, in turn,
bends the resistive strip thereby increasing the resistance of the strip.
This change of resistance is used in generation of command signals This
system also like the above used for partially persons in which his/her
hand is safe [4].
3. Eye tracking based wheelchair: When the case is worse all other tech-
nique becomes useless. In some critical cases, in which the person is
unable to move the parts of the body even unable to speak in such
cases eye controlled wheelchair can be very eective. In this case, the
dierent commands for the wheelchair are derived from the electro
oculo graphy (EOG) potential signals of eye movements. A system
for electric wheelchair control using the eyes was proposed in 2007. A
commercially available web camera on a head-mounted display (HMD)
which the user wears is used to capture moving pictures of the users
face. A computer mounted on the electric chair processes the captured
image data, detecting and tracking movements of the users eyes, esti-
mating the line-of-sight vector, and actuating the electric wheelchair in
the desired direction indicated by the users eyes. This system is good
but not ecient [5].
8
2.2 Review of Voice Recognition to Control
a System
Voice Signal Identication consist of the process to convert a speech wave-
form into features that are useful for further processing. There are many
algorithms and techniques are use. It depends on features capability to cap-
ture time frequency and energy into set of coecients for cepstrum analysis.
Then we try to review the algorithm used for voice recognition and the related
system.
1. Controlling of device through voice recognition using MATLAB: In this
paper a technique is described in which rstly a speech command can
be determined by power of speech signal which can be taken by the
help of microphones being connected to the computer itself. Using
MATLAB Programming the sampling of the speech signal takes place
with sampling rate of 8000 samples/sec according to nyquist criteria
i.e.
F = 2 fm
Where: F=Sampling Frequency, fm = maximum component of fre-
quency being present in speech signal.
The sampled signal is then ltered o by using band pass lter lying
in the range of 300 Hz-4000 Hz, which lters all the speech signal lying
below 300 Hz of frequency range. Moreover, it includes the algorithm
for the creation of speech templates which can be achieved by calculat-
ing the power of each sampled signals respectively [6].
2. Speech recognition using digital signal processing: This paper truly

based on independent speech recognition which can be achieved by the
use of Mel Frequency Cepstrum Coecients which will process the in-
put speech signal and further will recognize the speaker. This above
task can be performed by using MATLAB Programming use of Digital
Signal Processing (DSP) as a hardware platform [7].
3. Voice recognition circuit for home automation system: This project

was carried out by FKE, UTM degree student in 2009. In the project,
the voice recognition circuit was built up by a voice recognition chip,
9
HM2007 and a CMOS static RAM64K. The static Random Access
Memory (RAM) use to store the voice commands while the function of
HM2007 is use to capture up to 20 words in the length of 1.92 seconds.
The voice recognition circuit automatically operate when it detect the
existence of human. However, the circuit could not capture the com-
mands clearly. From the project, it can be concluded that this project
was successfully carried out. However, there are some points that can
be improved such as to design a system which can capture the voice
clearly [8].
4. This project is approximately the same as the above project which is

also successfully carried out by FKE, UTM student. It is a switching
ON or O of electrical appliance by voice. It uses the same voice recog-
nition chip HM2007 and PIC microcontroller to control the operation.
The additional part of this project from the rst is it has a speech
interface control circuit. This circuit use to detect whether the voice
recognition chip received any voice command. If the chip received a
command, then the speech interface control circuit compares the re-
ceived words with the recognized command words. If the words are
recognized, then it sends the command words to the output. From the
project, it can be concluded that the voice recognition circuit can be
improved by recognizing the commands more accurately [9].
5. Speech Recognition using MFCC: This paper describes an approach of

speech recognition by using the Mel-Scale Frequency Cepstral Coe-
cients (MFCC) extracted from speech signal of spoken words. Principal
Component Analysis is employed as the supplement in feature dimen-
sional reduction state, prior to training and testing speech samples
via Maximum Likelihood Classier (ML) and Support Vector Machine
(SVM). Based on experimental database of total 40 times of speaking
words collected under acoustically controlled room, the sixteen-ordered
MFCC extracts have shown the improvement in recognition rates signif-
icantly when training the SVM with more MFCC samples by randomly
selected from database, compared with the ML [10]
6. Speaker Recognition System using MFCC and Vector Quantization
10
(VQ) Approach: This paper presents an approach to speaker recog-
nition using frequency spectral information with Mel frequency for the
improvement of speech feature representation in a Vector Quantization
codebook based recognition approach. The Mel frequency approach
extracts the features of the speech signal to get the training and test-
ing vectors. The VQ Codebook approach uses training vectors to form
clusters and recognize accurately with the help of Linde Buzo Gray
(LBG) algorithm. The LBG algorithm is used for clustering a set of L
training vectors into a set of M codebook vectors [11].
7. Automatic Vowel Classication in Speech: it uses An Articial Neural
Network Approach Using Cepstral Feature Analysis. The neural net-
works designed by the authors are trained and tested on data prepro-
cessed using Mel frequency cepstral coecient (MFCC) feature analy-
sis. Thus the role of the neural network here is to provide a mapping
from 13-dimensional MFCC space the space of vowel phonemes . Vari-
ations in the number and characteristics of vowels used for these pur-
poses are explored. it examine several articial nueral network (ANN)
types and architectures in addition to various training algorithms used
for each of type. After preliminary research, it train and test two types
of neural networks [12].
8. Neural Networks used for Speech Recognition: In this paper is present-
ed an investigation of the speech recognition classication performance.
This investigation on the speech recognition classication performance
is performed using two standard neural networks structures as the clas-
sier. The utilized standard neural network types include Feed-forward
Neural Network (NN) with back propagation algorithm and a Radial
Basis Functions Neural Networks [13].
11
Chapter 3
System Design and Analysis
3.1 Introduction
This project describes a wheelchair which can be control only by using the
user's voice. This project aims to facilitate the movement of the handicapped
people and elderly people who can't move properly then enable them to lead
better lives without any problem. This project consists both software part
and hardware design part. The software part of our project is the speech and
speaker recognition system and the hardware part is intelligent wheelchair.
voice recognition technology is a key technology which can provide a new

way of human interaction with machines or tools for controlling a wheelchair.
There are ve options for basic motions of a wheelchair to be applied by the
user. The ve conditions of the wheelchair can be described as follows:
1. Moving forward
2. Moving backward
3. Turning to right
4. Turning to left
5. Stop
The general system block diagram is shown in Figure 3.1, the user of
wheelchair gives his/her voice as input in order to drive the wheelchair to
12
the desired position.
Microphone (Mic) which converts the voice signal to the electric signal
and the signal is given to the voice recognition module.
The voice recognition module it is the speech and speaker recognition

system algorithm that implement in MATLAB2010 software in our laptop.
it converts the analog signal into digital signal and classify the input speech
and speaker using neural network algorithm. nally, it predict with the cor-
responding number of the ve command. after that the predicted number
is transferred to the Arduino uno using serial communication between our
laptop and arduino uno board.
After receiving the last prediction from our laptop The Arduino will take
the decision to move forward or backward or left or right with the help of
H-Bridge (motor driver) unit.
Figure 3.1: Block diagram for General System
In the next section we try to discuss system design and analysis for the
software and hardware part brie y.
13
3.2 Software part System Design and Analy-
sis
Here we try to discuss the software part of our system by dividing it in

two part. the rst part is the speech and speaker recognition system it is
implement in matlab. the second part is controlling the direction and the
speed of motor it implement by using c/arduino IDE code.
3.2.1 Joint Speech and Speaker Recognition Using Neu-

ral Networks
Joint Speech and Speaker Recognition is the process of automatically recog-
nizing the spoken words of person and also the speaker(who is the speaker
of this word) based on information in speech signal. Recognition technique
makes it possible to the speakers voice to be used in verifying their identity
and control accesses to service. In our project recognition system is used to
recognize ve commands to control the wheelchair in dierent direction.
The speech recognition process can generally be divided in many dierent
components illustrated in gure. 3.2
The rst block consists the input voice data in wav format. the next step
is preprocessing of the input voice data used to suppress irrelevant sources
of variation from the input voice data.
The third block is used to extract the feature of preprocessed signal. This
can be done with a variety of techniques like cepstrum analysis and the spec-
trogram.
The fourth block tries to classify the extracted features and relates the input
sound to the best tting sound in a known 'vocabulary set' and represents
this as an output. The commonly used techniques for speech classication is
neural network.
Input Voice
We record the voice data from Bahirdar University students for each com-
mand (classied) like "Wede Holla", "Jemir", "Kum", "Wede Gira" and
"Wede Kegni" separately by using Audacity voice recorder software in Wav
format for speech recognition. Also for speaker recognition we record dif-
14
Figure 3.2: Block diagram of voice recognition system
ferent students as one classied and one of our group member is another
classied. and it can be used for training and testing the speaker and speech
recognition system separately.
Other steps we discussed in this section is used for both speaker and speech
recognition system.
Signal Pre-processing
Pre-processing of speech signal plays a very important part, especially in
the applications where silence or background noise is completely undesir-
able. This step is necessary to make sure that the signal is less susceptible
to noise.
In automatic speech recognition(ASR) silence and background noise is unde-
sirable and it decrease system accuracy then here we do to remove the silence
and background noise for each voice data.
15
Pre-processing generally involves silence removal with endpoint detection and
Pre-emphasis ltering.
Silence removal: it removes the silence intervals from the input speech
based on an envelope threshold. The input signal is up-sampled, segmented
to remove samples that fall below a threshold, and then re-sampled back
to the original sampling rate, and ltered to smooth out the discontinuities
where pauses in active speech occurred. The threshold used here is one-
fourth of the median of the envelope.
Pre-emphasise: to compensate the high-frequency part that was sup-

pressed during the sound production mechanism of humans. Moreover, it
can also amplify the importance of high-frequency formats. It can done by
using the formula given below
s2 (n) = s(n) a s(n 1)

Where s2 (n) is out put signal a = 0:95 and usually between 0.9 and 10
Zero-crossing and Short Time Energy

Zero crossing rate:
In the context of discrete-time signals, a zero crossing is said to occur

if successive samples have dierent algebraic signs. The rate at which zero
crossings occur is a simple measure of the frequency content of a signal. Zero-
crossing rate is a measure of number of times in a given time interval/frame
that the amplitude of the speech signals passes through a value of zero.
A denition for zero-crossings rate is:

X
Zn = jsgn[x(m)] sgn[x(m 1)]jw(n m)
where: sgn[x(n)] = 1, x(n) >= 0 sgn[x(n)] = 1,x(n) < 0 and w(n) = 1
2N
for 0 <= n <= N 1 otherwise w(n) = 0
he model for speech production suggests that the energy of voiced speech
is concentrated below about 3 kHz because of the spectrum fall of introduced
by the glottal wave, whereas for unvoiced speech, most of the energy is found
at higher frequencies. Since high frequencies imply high zero crossing rates,
16
and low frequencies imply low zero-crossing rates, there is a strong correla-
tion between zero-crossing rate and energy distribution with frequency. A
reasonable generalization is that if the zero-crossing rate is high, the speech
signal is unvoiced, while if the zero-crossing rate is low, the speech signal is
voiced.
Short Time Energy:
The amplitude of the speech signal varies with time. Generally, the am-
plitude of unvoiced speech segments is much lower than the amplitude of
voiced segments. The energy of the speech signal provides a representation
that re ects these amplitude variations. Short-time energy can dene as:
En =
X1
[x(m)w(n m)]2
m= 1
The choice of the window determines the nature of the short-time energy
representation. In our model, we used Hamming window. The hamming
window gives much greater attenuation outside the bandpass than the com-
parable rectangular window.
Feature Extraction Using MFCC

Feature extraction is a process of obtaining dierent features of voice signal
such as amplitude, pitch and the vocal tract. It is a task of nding parame-
ter set obtained from the input voice signal [9]. and mel frequency cepstral
coecient is widely used in ASR.
The main purpose of the MFCC processor is to mimic the behavior of the hu-
man ears. The human ear's critical bandwidths with frequency, lters spaced
linearly at low frequencies and logarithmically at high frequencies have been
used to capture the phonetically important characteristics of speech. This is
expressed in the mel-frequency scale, which is linear frequency spacing below
1000 Hz and a logarithmic spacing above 1000 Hz.
A block diagram of the structure of an MFCC processor is given in Figure

3.3
17
Figure 3.3: Block diagram for MFCC
The speech input is recorded and preprocessed in the above steps.after

this each preprocessed speech pass through in the MFCC steps explain below:
Step 1: Frame blocking
In this step the continuous speech signal is blocked into frames of N sam-
ples, with adjacent frames being separated by M (M < N ). The rst frame
consists of the rst N samples. The second frame begins M samples after
the rst frame, and overlaps it by N M samples and so on. This process
continues until all the speech is accounted for within one or more frames.
Typical values for N and M are N = 256 (which is equivalent to 30msec
windowing and facilitate the fast Fourier transform(FFT)) and M = 100.
Step 2: Windowing
The next step in the processing is to window each individual frame so

as to minimize the signal discontinuities at the beginning and end of each
frame. The concept here is to minimize the spectral distortion by using the
window to taper the signal to zero at the beginning and end of each frame.
If we dene the window as ,W (m); 0 <= m <= Nm 1 where Nm is the
number of samples in each frame, then the result of windowing is the signal
y(m) = x(m) w(m), where w(m) is hamming window
W (m) = 0:54 0:46Cos(2 m=(Nm 1)); 0 <= m <= Nm 1
Step 3: Fast Fourier Transform
18
The next processing step is the Fast Fourier Transform, which converts
each frame of N samples from the time domain into the frequency domain.
The FFT is a fast algorithm to implement the Discrete Fourier Transform
(DFT), which is dened on the set of N samples, as follow:
P j 2kn
Si (k) = Nn=1 si (n)h(n) exp N ,1 <= k <= K
where h(n) is an sample long analysis window (hamming window), and
K is the length of the FFT, si (n) is time domain signal.
The periodogram-based power spectral estimate for the speech frame
si (n) is given by:
1
Pi (k) = [Si (k)]2
N
The result after this step is often referred to as spectrum or periodogram-
s. then from this we can calculate periodogram based power spectral density.
Step 4: Mel-frequency wrapping
This step is used to Compute the Mel-spaced lterbank. This is a set of

20-40 (26 is standard) triangular lters that we apply to the periodogram
power spectral estimate from step 3.
lter bank is a set of band pass lters having spacing along with band-
width decided by steady Mel frequency time. Thus, Mel scale helps how to
space the given lter and to calculate how much wider it should be because,
as the frequency gets higher these lters are also get wider. For Mel- scaling
mapping is need to done among the given real frequency scales (Hz) and the
perceived frequency scale (Mels). During the mapping, when a given fre-
quency value is up to 1000Hz the Mel-frequency scaling is linear frequency
spacing, but after 1000Hz the spacing is logarithmic. The formula to convert
frequency f hertz into Mel mf is given by
F (Mel) = [2595] log[1 + f ]700

To calculate lterbank energies we multiply each lterbank with the power
spectrum, then add up the coecents. Once this is performed we are left
with 26(stadard) numbers that give us an indication of how much energy was
in each lterbank.
To design the lterbank we use the formula shown below
19
where M is the number of lters we want, and f () is the list of M + 2
Mel spaced frequencies.
Step 5: Discrete cosine transform
Take the logarithm of each lter bank energies from step 4. this leaves
us with log lter bank energies. nally we take discrete cosine transform
(DCT) of the log lter bank energies it gives the resulting feature are called
Mel frequency cepstral coecients.
Step 6: Delta and Delta-Deltas
Also known as dierential and acceleration coecients. The MFCC fea-

ture vector describes only the power spectral envelope of a single frame, but
it seems like speech would also have information in the dynamics i.e. what
are the trajectories of the MFCC coecients over time. It turns out that
calculating the MFCC trajectories and appending them to the original fea-
ture vector increases ASR performance by quite a bit (if we have 12 MFCC
coecients, we would also get 12 delta coecients, which would combine to
give a feature vector of length 24).
To calculate the delta coecients, the following formula is used:
P N
n(ct+n ct n )
dt = n=1
2
P N
n2
n=1
wheredt is a delta coecient, from frame 't' computed in terms of the
static coecients Ct+N to Ct N . A typical value for N is 2.
Delta-Delta (Acceleration) coecients are calculated in the same way,

but they are calculated from the deltas, not the static coecients.
20
Speech and Speaker Classication Using Neural Network
In machine learning, articial neural networks (ANNs) are a family of statis-
tical learning algorithms inspired by biological neural networks (the central
nervous systems of animals, in particular the brain) and are used to estimate
or approximate functions that can depend on a large number of inputs and
are generally unknown. Articial neural networks are generally presented as
systems of interconnected "neurons" which can compute values from inputs,
and are capable of machine learning as well as pattern recognition .
Neural networks try to imitate the highly parallel, distributed computa-

tion structure of the brain. They are often used for classication tasks and
are also used throughout this project for classication.
The aim is in most cases not to model the human brain as exactly as
possible but to obtain highly eective machine learning systems
The basic element of an articial neural network is the neuron; it is the
fundamental information-processing unit in a neural network. It consists of
three main parts (Haykin, 1999): A set of synapses or connecting links, an
adder and an activation function. The input signals "Xi " are connected to
the neuron by the synapses, each of which has a special weight "Wi " of its
own. The so weighted input signals are than summed by the adder. Often
also an external bias "b" is applied to the adder increasing or decreasing the
output signal of the adder. Its amplitude is then limited by the activation
function to a permissible nite amplitude range. An illustration of a neuron
can be seen in Figure 3.4
Model Representation
The simple neuron model is made from studies of the human brain neurons.
A neuron in the brain receives its chemical input from other neurons through
its dendrites. If the input exceeds a certain threshold, the neuron res its
own impulse on to the neurons it is connected to by its axon. Below is a very
simplied gure as each of the neurons of the brain is connected to about
10000 other neurons.
The simple perceptron models this behavior in the following way. First
21
Figure 3.4: Basic representation of neuron
the perceptron receives several input values (x0 xm ). The connection for
each of the inputs has a weight (w0 wn ) in some range. Threshold Unit
then sums the inputs, and if the sum exceeds the threshold value, a signal is
sent to output. Otherwise no signal is sent.
Figure 3.5: Simple perceptron models
The activation function is a function used to transform the activation level

of a unit or rather a neuron into an output signal. Typically, activation func-
tions have a squashing eect; they contain the output within a range. There
are several types of non-linear activation functions; the two most common
are the Log-sigmoid transfer function and the tan-sigmoid transfer function.
Plots of these dierentiable, non-linear activation functions are illustrated in
22
gures below. They are commonly used in networks trained with backprop-
agation. The networks referred to in this project are generally backpropaga-
tion models and they mainly use log-sig activation functions. Like shown in
the gure 3.6
1
g(z ) =
1 + exp( z )
Figure 3.6: logistic activation function

A typical neural network has anything from a few dozen to hundreds,
thousands, or even millions of articial neurons called units arranged in a
series of layers, each of which connects to the layers on either side. Some of
them, known as input units, are designed to receive various forms of infor-
mation from the outside world that the network will attempt to learn about,
recognize, or otherwise process. Other units sit on the opposite side of the
network and signal how it responds to the information it's learned; those
are known as output units. In between the input units and output units are
one or more layers of hidden units, which, together, form the majority of the
articial brain. Most neural networks are fully connected, which means each
hidden unit and each output unit is connected to every unit in the layers
either side. The connections between one unit and another are represented
by a number called a weight, which can be either positive (if one unit excites
another) or negative (if one unit suppresses or inhibits another). The higher
23
the weight, the more in uence one unit has on another. (This corresponds to
the way actual brain cells trigger one another across tiny gaps called synaps-
es.)
Our neural network is shown in Figure 3.7. It has 3 layers an input layer,
a hidden layer and an output layer. Recall that our inputs are feature of
the speech. Since the size of the features are of size 20 MFCC coecient
and 20 delta coecient, this gives us 40 input layer units (not counting the
extra bias unit which always outputs +1). The training data will be loaded
into the variables X and y by the mean. Mat script. it is for both speech
and speaker recognition the only dierence between them is the output layer.
The output layer for speech recognition is ve(5) means the ve possible
command that used to control the movement of wheelchair. and for speaker
it is only two output layer because it classify the user speech from other
persons speech to classify the user voice.
Figure 3.7: Forward propagation
Forward propagation
Here the hypothesis is computed with forward propagation algorithm the

hypothesis is the output of the mode.
24
a1 = X
Z 2 = 1 a(1)
a2 = g(Z 2 )
Z 3 = 2 a2
a3 = g(Z 3 )
h(x) = a3
we must add a10 at a1 and a20 at a2 before we compute z 2 and z 3 here a3 = h(x)
which is the expected experiment the cost of the system become like below.
J () = 1=m[
XXy
m k
(i)
log(h (xi ))k +(1 yki ) log(1 h (xi ))k )]+=2m
X X X (
L 1 si si +1
)
i 2
k ji
i=1 k=1 l=1 i=1 j =1
Back propagation
To minimize the cost we use the static gradient ; as it allows us to calculate

partial derivatives!
We want to calculate the partial derivative J () with respect to a single
parameter
@J ()
@ijl
In this part of the work, We will implement the back propagation algo-
rithm to compute the gradient for the neural network cost function. We will
need to complete the cost function so that it returns an appropriate value
for grad. Once we have computed the gradient, we will be able to train the
neural network by minimizing the cost function using an advanced optimizer
such as fmincg.
Now, you will implement the back propagation algorithm. Recall that the
intuition behind the back propagation algorithm is as follows. Given a
training example (x(t); y (t)), we will rst run forward pass" to compute all
the activation's throughout the network, including the output value of the
25
hypothesish (x). Then, for each node j in layer l, we would like to compute
an error term "(l)j that means uses how much that node was responsible"
for any errors in our output.
Pick a network architecture
In this stage of neural network operation the model of the neural network
is modeled In our case we have three layer neural network the number of
layer is determined based on the complexity of the system and the eciency
using try and error.
Input units: number of dimensions x (dimensions of feature vector)
Output units: number of classes in classication problem
Hidden units
Default might be
1. One hidden layer
2. Should probably have
(a) Same number of units in each layer in our case 25 for both speech
and speaker
(b) Or 1.5-2 x number of input features
(c) But more is more computational expensive
Training a neural network
1. randomly initialize the weight

epsiloninit = 0:12; W = rand(Lout; 1+ Lin) 2 epsiloninit epsiloninit ;
When training neural networks, it is important to randomly initialize
the parameters for symmetry breaking. One eective strategy for ran-
dom initialization is to randomly select values for the weights of level
L uniformly in the range [ i nt; i nt]; You should use = 0:12. This
range of values ensures that the parameters are kept small and makes
the learning more ecient.
26
2. Implement forward propagation
a1 = X
Z 2 = 1 a(1)
a 2 = g (Z 2 )
Z 3 = 2 a2
a 3 = g (Z 3 )
h(x) = a3
3. Implement code to compute cost function
h (x)Rk (h((x)))i = ith output
J ( ) = 1=m[
XXy
m k
(i)
log(h (x ))k +(1 y ) log(1 h (x ))k )]+=2m
i i i
X X X (
L 1 si si +1
)
i 2
k k ji
i=1 k=1 l=1 i=1 j =1
4. Implement back propagation to compute partial derivative

@
@ (i j )i
J ( )
for i = 1 : m Perform forward propagation and back propagation us-
ing example (x(i); y (i)); (Get' activations a( l) and delta terms ( l) for
l = 2L)
After you have successfully implemented the neural network cost func-
tion and gradient computation, the next step using fmincg to learn a
good set parameters. Returns an appropriate value for grad. Once you
have computed the gradient, you will be able to train the neural net-
work by minimizing the cost function J () using an advanced optimizer
such as fmincg.
3.2.2 Arduino IDE code

The second part of the software is the c code (Arduino ide code) which is
used control the wheel chair.
matlab code role is speech processing which is voice and speaker recogni-
tion the mat lab do its roll and it send serial data to the Arduino by using
27
Arduino arduinomatlab interface and Arduino which is hart of the control
system accepts signal value from the sensors and from serial port which is
from mat lab (or the command which is recognized) and it take decision de-
pend on the value of the sensor and serial port value. The ow chart of our
program is like below.
Figure 3.8: Flow chart of our arduino code implementation
28
3.3 Hardware part System Design and Anal-
ysis
3.3.1 Control Unit

Its a brain of all system. Control unit can be a microprocessor or microcon-
troller. It is the intelligence part of the unit which collects the data from each
sensor or detector and performs dierent computation on data and according
to the result of dierent computation it takes decision. It controls the motor
speed and direction by H Bridge methodology depending upon program store
in it. Crystal frequency must be adjusted to ensure better performance. We
have used Arduino in our wheelchair because it provides on chip memory and
better exibility.
Arduino is an open-source platform used for building electronics projects.

Arduino consists of both a physical programmable circuit board (often re-
ferred to as a microcontroller) and a piece of software, or IDE (Integrated
Development Environment) that runs on your computer, used to write and
upload computer code to the physical board.
The Arduino platform has become quite popular with people just start-
ing out with electronics, and for good reason. Unlike most previous pro-
grammable circuit boards, the Arduino does not need a separate piece of
hardware (called a programmer) in order to load new code onto the board
you can simply use a USB cable. Additionally, the Arduino IDE uses a
simplied version of C++, making it easier to learn to program. Finally,
Arduino provides a standard form factor that breaks out the functions of the
micro-controller into a more accessible package.
The Arduino Uno is a microcontroller board based on the ATmega328

(datasheet). It has 14 digital input/output pins (of which 6 can be used as
PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connec-
tion, a power jack, an ICSP header, and a reset button. It contains everything
needed to support the microcontroller; simply connect it to a computer with
a USB cable or power it with an AC-to-DC adapter or battery to get started.
In this project it is used to control the motor by creating serial communi-
29
cation with matlab. Arduino accept the last prediction of the neural network
then based on prediction we set the condition that is simple IDE code and
upload this code from arduino IDE software to arduino uno board using USB
cable after that we can control the movement of motor.
3.3.2 Ultrasonic Sensor

Ultrasonic sensing techniques have become mature and are widely used in
the various elds of engineering and basic science. Actually, many types of
conventional ultrasonic instruments, devices and sophisticated software are
commercialized and used for both industrial and medical applications. One
of advantages of ultrasonic sensing is its outstanding capability to probe in-
side objectives non destructively because ultrasound can propagate through
any kinds of media including solids, liquids and gases except vacua.
Ultrasonic waves are sounds which cannot be heard by humans and are
normally, frequencies of above 20kHz. The basic characteristics of ultrasonic
waves are explained below.
1. Wavelength and Radiation

Velocity of wave propagation is expressed by multiplication of frequency
and wavelength. The velocity of an electromagnetic wave is 3 108 m=s,
but the velocity of sound wave propagation in air is as slow as about
344 m=s at 20 degree Celsius , At these slower velocities, wavelengths
are short meaning that higher resolution of distance and direction can
be obtained. Because of the higher resolution, it is possible to get
higher measurement made large accuracy. The surface dimension of
the ultrasonic device can be easily to obtain accurate radiation.
2. Re ection In order to detect the presence of an object, ultrasonic waves
are re ected on objects. Because metal, wood, concrete, glass, rubber
and paper, etc. re ect approximately 100% of ultrasonic waves, these
objects can be easily detected. Cloth, cotton, wool, etc. are dicult to
detect because they absorb ultrasonic waves. It may often be dicult,
also, to detect objects having large surface undulation, because of ir-
30
regular re ection.
Basic working Principle

The basic working principle of ultrasonic sensor is given below
1. Using IO trigger for at least 10s high level signal,
2. The Module automatically sends eight 40 kHz and detect whether there
is a pulse signal back.
3. If the signal back, through high level, time of high output IO duration
is the time from sending ultrasonic to returning.
T estdistance = (highleveltime velocityofsound(340M=S )=2

In our project we will use the HC-SR04 ultrasonic sensor with an Arduino
for object avoidance. It essentially gives your Arduino eyes(spacial) aware-
ness. and it can prevent our wheelchair from crashing or falling o simply it
use to turn o the motors when the wheelchair get obstacle. The Schematic
diagram of ultrasonic sensor is shown in gure 3.9
31
Figure 3.9: Ultrasonic sensor
Wire connecting direct as following:
1. 5V Supply
2. Trigger Pulse Input
3. Echo Pulse Output
4. 0V Ground
Timing diagram
The Timing diagram is shown in Figure 3.10. You only need to supply a short
10S pulse to the trigger input to start the ranging, and then the module will
send out an 8 cycle burst of ultrasound at 40 kHz and raise its echo. The Echo
is a distance object that is pulse width and the range in proportion .You can
calculate the range through the time interval between sending trigger signal
and receiving echo signal.The formula is as follows: S=58 = centimeters or
S=148 = inch4 or T heRange = highLevelT ime velocity(340M=S )=2;
32
Figure 3.10: Timing diagram for Ultrasonic sensor
3.3.3 DC Motor
Movement in wheelchair is done by motor. Motor is responsible for movement
of wheel chair. Motor will be selected depending upon requirement .i.e.
maximum load, starting torque, voltages ratings, current ratings, etc.
In this project two Series DC motors were used. Series motors are com-
monly used as traction motors in many applications, as they oer high start-
ing torque, are robust, have a simple design and are relatively low cost. Most
of their applications are of an industrial nature, such as conveyors, but are
also common in road-going electric vehicles. DC series motors are an ideal
choice for battery-operated equipment over AC motors, as they dont require
the use of expensive complicated inverter circuitry to convert the DC voltage
to an AC voltage required by the motor.
Advantages of DC motors
1. Huge starting torque
2. Simple Construction
3. Designing is easy
4. Maintenance is easy
5. Cost eective
33
Operation of Series DC Motor
Operation of the series motor is easy to understand. In Figure 3.11 you can
see that the eld winding is connected in series with the armature winding.
This means that power will be applied to one end of the series eld winding
and to one end of the armature winding (connected at the brush).
Figure 3.11: DC series motor schematic
When voltage is applied, current begins to ow from negative power sup-

ply terminals through the series winding and armature winding. The arma-
ture is not rotating when voltage is rst applied, and the only resistance in
this circuit will be provided by the large conductors used in the armature and
eld windings. Since these conductors are so large, they will have a small
amount of resistance. This causes the motor to draw a large amount of cur-
rent from the power supply. When the large current begins to ow through
the eld and armature windings, it causes a strong magnetic eld to be built.
Since the current is so large, it will cause the coils to reach saturation, which
will produce the strongest magnetic eld possible. [15]
The direction of rotation of a series motor can be changed by changing

the polarity of either the armature or eld winding. It is important to re-
member that if you simply changed the polarity of the applied voltage, you
34
would be changing the polarity of both eld and armature windings and the
motor's rotation would remain the same.
Power and Torque Calculation

The Rotational Speed of each of the available motors = 2400 rpm.
The relation between the rotational speed and power is given by the
equation:
T orque = OutputP ower=RotationalSpeed
Ea = Vt I a ( Ra + Rf )
Where: Ea is armature voltage (volt) Vt is the total voltage of DC motor Ia
is the armature current (Ampere) Ra is armature resistance (ohm) Rf is the
eld resistance(ohm)
P d = Ia E a
Where: Pd is the electrical power developed inside the motor
e = Pd =!m
Where: e is the electric torque developed inside motor(N.m) !m is the ro-
tational speed of the motor (r.p.m)
!m = 2 (numberofrotationperminute)=(60second=minute)
po = Pd Pr
Where: Po is the mechanical output power of the motor(watt). Pr is the
rotational power losses(%).
s = (Pd Pr )=!m
s is the mechanical torque on the shaft.
Gear Box calculation
By using a gear box with a step down ratio then
!g = Stepdownratio !m
35
where: !g is the rotational speed of the gear(rpm) !m is the rotational speed
of the motor(rpm)
And
g = Po =!m
Where: g is the torque of the gear.
Choosing the DC Motors

In order to choose the required DC motors that can do the job, we conducted
a theoretical study that aims to helping us choose the optimal type and size
of DC motors. Horsepower calculations Let the maximum consider for a
37 deg incline
Figure 3.12: Road level block diagram
R: Incline reaction to wheelchair weight. Fx : friction force. W: wheelchair

weight
Predened parameters
Mwheelchair = 150kg This mass accounts for both the mass of the wheelchair
approximated to be equal to 70 Kg, and the mass of a standard disabled user
which is about 80 Kg.
g = 9:81m=s 2
36
Maximum angle of inclination: max = 37 deg. According to the inter-
national laws for transportation the maximum slope angle should not
exceed 37 deg. We are not sure if this law is respected in Ethiopia, but
it is denitely respected in the large cities of the country.
Coecient of friction: = 0:5 0:7, we will assume the value max =
0:7, to account for the worst possible conditions.
Wheel Radius:R = 40cm = 0:40m
Wheel perimeter: Pwheel = 2:512m
Assuming the required acceleration: ax = 1m=s2
The average velocity of the wheelchair is: Vav = 5km=h = 1:39m=s
Weight of the Wheelchair
W = M g = 150 9:81 = 1471:5N

Reaction of the incline
R = W cos(37) = 1175:19N
Friction force
fx = max R = 0:7 1175:19 = 822:6N

Weight in the direction of the movement
W x = W sin(37) = 885:57N
At equilibrium
XF =F
fx W x = 0
x
F min = fx + Wx = 822:6 + 885:57 = 1708:17N

Also: XF = M ax = F fx Wx
x
F = 150 + 885:57 + 822:6
37
Propulsion force:
F = 1858:17N
Torque at the wheel
T = F R = 1858:17 0:15 = 278:72N:m
Calculation of rpm
V = 5000=60 = 83:33m=min
Rpm = V=Pwheel = 33:17rpm
T = 278:72N:m = 205lb ft
HP = (T rpm)=5252 = (205 33:17)=5252 = 1:29
3.3.4 H-Bridge Driver Circuit

An H-Bridge is an electronic power circuit that allows motor speed and di-
rection to be controlled. Often motors are controlled from some kind of brain
or micro controller to accomplish a mechanical goal. The micro controller
provides the instructions to the motors ,but it can not provide the power
required to drive the motors. An H-bridge circuit inputs the micro controller
instructions and amplies them to drive a mechanical motor.
Direction Control-H-Bridge Topology

Most DC Motors can rotate in two directions depending on how the battery
is connected to the motor. Both the DC motor and the battery are two
terminal devices that have positive and negative terminals. In order run
the motor in the forward direction, connect the positive motor wire to the
positive battery wire and negative to negative. However, to run the motor
in reverse just switch the connections; connect the positive battery wire to
the negative motor wire, and the negative battery wire to the positive motor
wire. An H-Bridge circuit allows a large DC motor to be run in both direction
with a low level logic input signal.
The H-Bridge electronic structure is explicit in the name of the circuit -H-
Bridge. The power electronics actually form a letter H conguration, as
shown in Figure 3.13. The switches are symbolic of the electronic Power
38
Figure 3.13: H-Bridge Topology
Metal Oxide Semiconductor Field Eect Transistor (MOSFETs) which are

used for switching.
If it is desired to turn the motor on in the forward direction, switches 1
and 4 must be closed to power the motor. Figure 3.14 below is the H-Bridge
driving the motor in the forward direction.
Figure 3.14: H-Bridge Topology - Forward direction
If it is desired to turn the motor on in the reverse direction, switches 2

and 3 must be closed to power the motor. Figure 3.15 below is the H-Bridge
driving the motor in the reverse direction.
39
Figure 3.15: H-Bridge Topology - Reverse direction
Then depending on the above characteristic of H-bridge we can control

the direction of two motor to get the ve possible direction of wheelchair as
we listed in table 3.1
Direction Right Motor Left Motor

Forward ON(CW) ON(CW)
Backward ON(CCW) ON(CCW)
Right OFF ON(CW)
Left ON(CW) OFF
Stop OFF OFF
Table 3.1: work plan
where: CW: is Clockwise CCW: is Counter Clockwise
40
The general connection of H-bridge and motor is shown as follows :
Figure 3.16: Connection of H-bridge and motor

Capacitors C1, C2 are needed to compensate noises produced by motor
and also to prolong motor's lifetime. Immediate change of polarity applied to
motors can cause big voltages back ow (in case of using motors of big pow-
er), because of motor inductive proprieties. They are called Output Clamp
Diodes for Inductive Transient Suppression. So to protect your circuit from
over voltages, diodes are needed. Our L293D already have this diodes build-
in so you no need to worry about protection. Now applying PWM source
directly from the I=O pin from MCU we can control DC motor rotation
speed.
Speed Control -PWM Technique

The motor is controlled by the 4 switches above. For the speed control ex-
planation that follows only switches 1 and 4 will be considered because speed
control is identical in the forward and reverse direction. Say the switches 1
and 4 are turned on, the motor will eventually run at full speed. Similarly if
only switch 4 is turned on while switch 1 is o the motor stops. Using this
system, how could the motor be run at 1/2 of the full speed? The answer is
actually quite simple; turn switch 1 on for half the time and turn it o for
41
the other half.
Pulse Width Modulation or PWM is a technique for supplying electrical

power to a load that has a relatively slow response. The supply signal consists
of a train of voltages pulses such that the width of individual pulses controls
the eective voltage level to the load. Both AC and DC signals can be
simulated with PWM. The PWM pulse train acts like a DC signal when
devices that receive the signal have an electromechanical response time that
is slower than the frequency of the pulses. For a DC motor, the energy storage
in the motor windings eectively smooth s out the energy bursts delivered by
the input pulses so that the motor experiences a lesser or greater electrical
power input depending on the widths of the pulses. The formula below shows
the voltage signal comprised of pulses of duration on time that repeat every
on pulse o time units of time. The output of a PWM channel is either Vs
volt during the pulse or zero volts otherwise. If this signal is supplied as
input to a device that has a response time much larger than total on time
pulse o time, the device will experience the signal as an approximately DC
input with an eective voltage of
0
Vef f = Vs
c
Frequency: Using the switch example, the frequency would be how fast
the switch was turned on and o. If the frequency is too low (switch is
changed slowly), then the motor will run at full speed when the switch is on,
and completely stop when the switch is o. But if the frequency is too high,
the switch may mechanically fail. In reality there is no switch, but rather an
electronic board named an H-Bridge that switches the motor on and o. So
in electrical terms; if the frequency is too low, the time constant of the motor
has enough time to fully switch between on and o. Similarly the upper limit
on the frequency is the limit that the H-Bridge board will support, analogous
to the mechanical switch. The maximum frequency of this H-Bridge Board
is 500 kHz, but the recommended frequency of the PWM for this board is
31.25 kHz.
Duty Cycle: The duty cycle is analogous to how long the upper switch
(switch 1) remains on as a percentage of the total switching time. In essence
it is an average of how much power is being delivered to the motor. Duty
cycle gives the proportional speed control of the motor. Figure 3.17. is an
42
example of 1/4, 1/2, and 3/4 duty cycles. Eectively, these duty cycles would
run the motor at 1/4, 1/2, and 3/4 of full speed respectively.
Figure 3.17: Pulse Width Modulation Used For Motor Control
Advantage of PWM
The main advantage of PWM is that power loss in the switching devices is
very low. When a switch is o there is practically no current, and when it
is on, there is almost no voltage drop across the switch. Power loss, being
the product of voltage and current, is thus in both cases close to zero. PWM
works also well with digital controls, which, because of their on/o nature,
can easily set the needed duty cycle. Using pulse width modulation has
several advantages over analog control. Using PWM to dim a lamp would
produce less heat than an analog control that converts some of the current
to heat. Also, if you use PWM, the entire control circuit can be digital, elim-
inating the need for digital-to-analog converters. Using digital control lines
will reduce the susceptibility of your circuit to interference. Finally, motors
may be able to operate at lower speeds if you control them with PWM. When
you use an analog current to control a motor, it will not produce signicant
torque at low speeds. The magnetic eld created by the small current will be
43
too weak to turn the rotor. On the other hand, a PWM current can create
short pulses of magnetic ux at full strength, which can turn the rotor at
extremely slow speeds.
3.3.5 Power Supply

This section is consisting of a rechargeable battery. This section deals with
the power requirements of the wheel chair for DC motors, Micro controller
and other Section. Battery is used to provide the power supply to L298 driv-
er IC (12V supply) which drives the DC motors and Microcontroller.
44
Chapter 4
Results and Discussions
4.1 Software simulation results and discus-

sions
Matlab(R2010a) has been used in this work. The voice recorded using au-
dacity voice recorder software from bahirdar university students for each ve
commands and for speaker identication that were classify by our system.
For speech recognition the commands that mention above is given orderly
like this "wede hola", "jemir", "kum", "wede gira" and "wede kegni". Then
for each command we record 50 voices generally 250 voices recorded for ve
commands. from this 200 can be used for training data and the other 50
were reserved for testing data.
For speaker recognition we record 250 voices for the user of the wheelchair
and other many speakers. From this 200 can be used for training and the
other 50 voices reserved for testing data.
The time domain representation for sample training data is shown in g-

ure 4.1
45
Figure 4.1: Original voice data
After this the data is must be preproccesed before further steps of ASR
as we have discussed earlier. In this step silence and noise removal, preem-
phasise, zero crossing rate and energy of the input voice is done. The time
domain signal after silence and noise removal is shown in gure 4.2 and after
preemphasis shown in gure 4.3 respectively.
Figure 4.2: After silence and noise removal
After preprocessing the input voice data the next step is feature extrac-
tion for each data that is Mel frequency cepstral coecient. To do this the
next step is taken as we have mention above.
The rst step is frame blocking, windowing and fast Fourier transform by
selecting the standard N = 256 point of FFT, M = 100 over lapping of each
frame and hamming window.
46
Figure 4.3: After preemphasise
In the next step we take the absolute value of the complex Fourier trans-
form and square the result. we would generally perform a 256 point FFT and
keep only the rst 128 coecient. this is called the periodoggram estimate
of the power spectrum.
for the sample voice data power spectrum is shown in the gure 4.4
Figure 4.4: Power spectral of input voice data
The third step is compute the mel lterbank. Here we select 20 triangular
lters. then our lterbank comes in the form of 20 vectors of length 128. for
the sample voice data mel lterbank is shown in the gure 4.5
After this we calculate lter bank energy by multiplying each lterbank

with the power spectrum then add up the coecients.Once this performed
we are left 20 numbers that indicate how much energy was in each lterbank.
47
Figure 4.5: Mel lterbank of input voice data
The fourth step is take the discrete cosine transform of each 20 log lter-
bank energies to give 20 cepstral coecients. the resulting 20 numbers are
called Mel frequency cepstral coecient(MFCC) it shown in the gure 4.6
Figure 4.6: Mel frequency coecient for sampled voice data
the last step for MFCC calculation that we have done is calculate deltas
to increase ASR performance. now we combine 20 deltas coecient vector
on 20 MFCC vectors then the total feature vector of length 40 is generate.
Finally, Neural Network was used to create, train and simulate the net-
works and mean square error was used to evaluate its performance. Training
a neural network is very important. We train a neural network so that a
particular input leads to a specic target output. We have used 40 data set
per command for training the data. These samples are dierent from the
48
data used for testing.
When this neural network is run we see its performance. The mean
squared error (MSE) is a network performance function. It measures the
network's performance according to the mean of squared errors. It is the
average squared dierence between outputs and targets.
Then for our case MSE of speech recognition system is become 97.50 for
training data and 88.00 for test data and MSE of speaker recognition system
is become 99.00 for training and 94.00 for testing data.
4.2 Hardware Simulation Result and Discus-

sion
Here we try to discuss the result that we have get in the hardware part.
First we try to simulate the hardware part that start from arduino uno to
DC motor to see the movement of two DC motor that is the main controller
of our automation wheelchair movement by using Proteus 8.1 it is a virtual
system modeling and circuit simulation application. The simulation is shown
in Figure 4.7.
The above circuit is motor control system design stimulation. The LDR
in Arduino A0 is act as ultrasonic. if the value of the LDR go above the
reference value the Arduino stoop the motor which means there is obstacle
there. And the alarm and light (fracha) going to high.
The other component in the design is H bridge which is used for direction
control here we control two motors so four pins from the Arduino give logical
value to its which means when we give serial data by using virtual terminal
for direction value the for pins which is the H bridge state control pin the
motor change its direction.
The last but not the least thing we must see is the speed of the motor is
given from Arduino PWM pins and the speed can be controlled by varying
the duty cycle value of the pins from value given from serial port
49
Figure 4.7: General system simulation using Proteus
50
Chapter 5
Conclusion and
Recommendations for Future
work
5.1 Conclusion
Generally in this project we mainly concentrate designing on intelligent voice

controlled wheelchair control system. We design the system as a whole, de-
velop voice and speaker recognition system and Arduino code for the control.
In system design we mainly use Arduino as control unit H Bridge as direc-
tion control, In recognition system we use MFCC, power and zero crossing
point as feature. The main dierence between speech and speaker is mainly
on the data set. from the work we can concluded that our work is satisfac-
tory that meet partially our objective to recognize the command for speech
control wheelchair, like wode hoala, jemir , wode kegni, wode gira, kum and
we recognize the speaker eectively . Generally the system recognizes the
commands with 97 training accuracy (where the data we recognize from the
data set which we teach the neural network) and 88 for test accuracy (where
we take the data from test set which is not part of the training set). And
training accuracy of the speaker is 99 and that of the test is 94 So the system
accuracy is acceptable.
51
5.2 Recommendations for Future work
From our project we observe in fully that voice controlled wheel chair is
Possible so we put works for the feature from this the following is included
1. As we say about the limitation of the project we were not develop

prototype of the hard ware
2. Even if our system is satisfactory and it can be implemented in practical
it need eciency improvement.
3. Since our nal goal is designing voice controlled wheel chair we will
design the wheel chair and join the market we will make it.
4. Anyone who have good knowledge of machine vector algorithm can
improve it
52
Reference
1. Daoudi, K. (2002) Automatic Speech Recognition:The New Millenni-
um, Proceedings of the 15th International Conference on Industrial and
Engineering, Applications of Articial Intelligence and Expert Systems:
Developments in Applied Articial Intelligence, 253-263.
2. Bourhis G, Moumen K, Pino P, Rohmer S, Pruski A. Assisted navi-
gation for a powered wheelchair. Systems Engineering in the Service
of Humans: Proceedings of the IEEE International Conference on Sys-
tems, Man and Cybernetics; 1993 Oct 1720; Le Touquet, France. Pis-
cataway (NJ): IEEE; 1993. p. 55358.
3. V.I. Pavlovic, R. Sharma, And T.S. Huang, Visual Interpretation Of
Hand Gestures For Human-Computer Interaction: A Review, In IEEE
transactions On Pattern Analysis And Machine Intelligence, July 1997,Vol.
19, Pp. 677-695.
4. Fahad Wallam And Muhammad Asif, August 2011, InInternational
Journal Of Computer And Electrical Engineering, on: Dynamic Finger
Movement Tracking And Voice Commands Based Smart Wheelchair,
Vol. 3, No. 4.
5. Arai K, Purwanto D, December 2007, In 7th International Confer-
ence On Optimization: on Techniques And Applications of Electric
WheelchairControl with the Human Eye. Kobe, Japan
6. Topic on "Controlling of Device through Voice Recognition Using Mat-
lab1" ISSN NO: 2250- 3536 VOLUME 2, ISSUE 2, MARCH 2012
http : ==www:ijater:com=F iles=fd54f 0ee 1aae 4e88 ab81
b89f 32ac57c6I JAT ER0 33 5:pdf
53
7. Topic on "Speech Recognition using Digital Signal Processing" ISSN:
2277-9477, Volume2, Issue 6.
8. Onn, C. M. (2010). "Voice Recognition Home Automation System"
Faculty of Electrical Engineering. Universiti Technologi Malaysia, Uni-
versiti Technologi Malaysia. Bachelor of Electrical(Electronic)Engineering:50.
9. Kadir, M. S. B. A. (2010). "Voice Activated Switching Device" Facul-
ty of Electrical Engineering. Universit Teknologi Malaysia, Universiti
Teknologi Malaysia. Bachelor of Electrical (Electronic) Engineering:
64.
10. Chadawan Ittichaichareon, Siwat Suksri and Thaweesak Yingthaworn-
suk. "Speech Recognition using MFCC". International Conference
on Computer Graphics, Simulation and Modeling (ICGSM'2012) July
28-29, 2012 Pattaya (Thailand)
11. Deepak Harjani, Mohita Jethwani, Ms. Mani Roja. "Speaker Recogni-
tion System using MFCC and Vector Quantization Approach" Interna-
tional Journal for Scientic Research and Development| Vol. 1, Issue
9, 2013 | ISSN (online): 2321-0613
12. Peter Merkx, Jadrian Miles (2005). "Automatic Vowel Classication in
Speech An Articial Neural Network Approach Using Cepstral Feature
Analysis" ,Department of Mathematics , Duke University, Durham,
NC, USA
13. Wouter Gevaert, Georgi Tsenov, Valeri Mladenov. "Neural Networks
used for Speech Recognition". JOURNAL OF AUTOMATIC CON-
TROL, UNIVERSITY OF BELGRADE, VOL. 20:1-7, 2010
14. Vimala.C, Dr. V.Radha, A Review on Speech Recognition Challenges
and Approaches, World of Computer Science and Information Technol-
ogy Journal, Vol. 2, No. 1, pp. 1 -7, 2012.
15. http : ==www:lmphotonics:com=DCSpeed=seriesd c:htm
54
Appendices
Appendix A
1. Matlab code for feature extraction using MFCC
clear all;close all;clc;

Exf eaturedir = [pwd0 =Exf eature0 ];
addpath(Exf eaturedir);
cd C:1f inalp rojectr ecognitiont raining
DR = dir;
voice = ;
for i=3:length(DR)
if DR(i).isdir
voice = [voice DR(i).name];
end
end
for voi d = 1 : length(voice)

w = voicevoi d;
cd(voicevoi d);
DR = dir(0 wav0 );
cd::;
Exf eature = cell(length(DR); 1);
for s=1:length(DR)
disp(DR(s).name);
55
DR(s).name;
[data,Fs] = wavread([voicevoi d0 =0 DR(s):name]);
fs=Fs;
fOut
= zcrs tes o(data; F s);
data=fOut;
melCeps
=MfccCalculation(data,fs);
d = 2; deltac off = mfcc2delta(melCeps; d);
mfcc = zeros(size(deltac off; 1) + size(deltac off; 1); size(deltac off; 2));

mfcc(1 : 20; :) = melCeps;
mfcc(21 : end; :) = deltac off ;
m=size(mfcc,1);
XMean = repmat(mean(mfcc),m,1);
XVariance = repmat(var(mfcc),m,1);
mfcc = (mfcc - XMean)./(XVariance);
Nof ramei nt exturewindow = floor(length(mfcc)=4);

for c=1:4
rst = (c-1)*Nof ramei nt exturewindow + 1;

last = first + Nof ramei nt exturewindow 1;
56
meanmfcc(1:5,c) = mean(mfcc(1:5,rst:last)')";
varmfcc(1:5,c) = var(mfcc(1:5,rst:last)')';
end
VV=[meanmfcc varmfcc];
BB=VV(:)';
Exf eatures:MF CC = BB ;
2. Packing Each feature of speaker

clear all;close all;clc;
nospc=100;
load('Exf eaturem ubarek:mat0 );

fori = 1 : nospc
speaker1(i; :) = [Exf eaturei; 1:MF CC ];
end
load('Exf eatureo therss peaker:mat0 );
fori = 1 : nospc
speaker2(i; :) = [Exf eaturei; 1:MF CC ];
end
X=[speaker1 ;speaker2];
g =ones(1,nospc);
y=g;
for j =2
y =[y j*g];
m=y;
end
y =m';
save('FinalVoiceData.mat','X','y','-v7');
3. Speaker classication using neural network
57
clear ; close all ; clc
inputLayerSize = 40; hiddenLayerSize = 25; numberOfLabels = 2;
fprintf('Loadinig Training Data')

load('FinalVoiceData.mat');
m = size(X, 1);
load(0 testV oiceData:mat0 )

fprintf (0 SavedNeuralNetworkP arameters0 )
load('weight.mat');
nnp arams = [T heta1(:); T heta2(:)];
fprintf('Using Neural Network ');

lambda=0;
J = nnCostFunction(nnp arams; inputLayerSize; hiddenLayerSize; :::

numberOfLabels; X; y; lambda);
fprintf ('Cost at parameters ( loaded from Weight ):
fprintf (0 CostF unction(w=Regularization) n0 );

lambda = 1;
J = nnCostFunction(nnp arams; inputLayerSize; hiddenLayerSize; :::

numberOfLabels; X; y; lambda);
fprintf ('Cost at parameters using regularization lambda =1 is :
58
fprintf('sigmoid gradient n');
g = sigmoidGradient([1 -0.5 0 0.5 1]);

fprintf ('Sigmoid gradient evaluated at [1 -0.5 0 0.5 1]: n')
fprintf (
0
fprintf (0 NeuralNetwork n0 )options = optimset(0 MaxIter0 ; 10000); lambda = 0:1;

costFunction = @(p)nnCostFunction (p ,inputLayerSize, hiddenLayer-
Size, ...
numberOfLabels, X, y, lambda);
[optimizep arams; cost] = fmincg (costF unction; nnp arams; options);
T heta1 = reshape(optimizep arams(1 : hiddenLayerSize(inputLayerSize+1)); :::

hiddenLayerSize , (inputLayerSize + 1));
Theta2 = reshape (optimizep arams((1+(hiddenLayerSize(inputLayerSize+
1))) : end); :::
numberOfLabels; (hiddenLayerSize + 1));
optimizep arams = [T heta1(:); T heta2(:)];

save('newWeightforspeaker2.mat','Theta1','Theta2','-v7');
J = nnCostF unction(optimizep arams; inputLayerSize; hiddenLayerSize; :::numberOfLabels; X

fprintf ('Cost at TRAINING Set is :
59
tJ = nnCostF unction(optimizep arams; inputLayerSize; hiddenLayerSize; :::
numberOfLabels; tX ; ty ; lambda);
fprintf (0 CostatT EST Setis :
pred = predict(T heta1; T heta2; X ); tp red = predict(T heta1; T heta2; tX );

fprintf('Set Accuracy:
fprintf (0 SetAccuracy :
sel = randperm(size(tX ; 1));

sel = sel(1:2)';
for l=1:size(sel,1)
mube=sel(l);
if mube <=25
fprintf('1')
elseif mube>=26 mube<=50

fprintf('2')
test(Theta1, Theta2, tX (sel(l); :));

end
4. last matlab code to predict the input voice command
clear all ; close all ; clc ;
Fs=16000; ch=2;
fprintf ('pls enter to start ');
pause;
voice = wavrecord(2*Fs , Fs , ch ,'double');
sound(voice,Fs);
gure
plot(voice)
60
[fOut] = zcrs tes o(voice; F s);
vv = fOut; = MfccCalculation(vv; F s); d = 2; deltac off = mfcc2delta(melCeps; d);

melCeps
mfcc = zeros(size(deltac off; 1) + size(deltac off; 1); size(deltac off; 2));
mfcc(1 : 20; :) = melCeps;
mfcc(21 : end; :) = deltac off ;
m=size(mfcc,1);
XMean = repmat(mean(mfcc),m,1);
XVariance = repmat(var(mfcc),m,1);
mfcc = (mfcc - XMean)./(XVariance);
numframesintexturewindow= oor(length(mfcc)/4);
for k=1:4
rst = (k-1)*numframesintexturewindow + 1;
last = rst + numframesintexturewindow - 1;
meanmfcc(1:5,k) = mean(mfcc(1:5,rst:last)')";

varmfcc(1:5,k) = var(mfcc(1:5,rst:last)')';
end
MM=[meanmfcc varmfcc];
PP=MM(:)';
X=PP;
load('newWeightforspeaker2.mat');
load('newWeightforspeech2.mat');
61
pred = predict(Theta1,Theta2,X);
if pred==1
predd=predict(ThetaS1,ThetaS2,X);
else
fprintf('the voice enter here is not recognize becuase it is not the user voice');
end
arduino = serial(0 COM 230 ;0 BaudRate0 ; 9600);

fopen(arduino);
fprintf(arduino,0
fclose(arduino);
Appendix B
=thisismotorcontrollprogramwhichisusedtocontrolyhewheelchairusingl293dmotordiriver
*/
intm1speed = 9;
// digital pins for speed control for motor one
intm2speed = 11;==digitalpinsforspeedcontrolformotortwo
intm1direction = 10;==digitalpinsfordirectioncontrolmotorone
intm12direction = 7;
intm21direction = 4;==digitalpinsfordirectioncontrolmotortwo
intm22direction = 3;
intm22 = 13;
intobstacle = A0;==forobstaclepin
void setup()
Serial.begin(9600);
pinMode(m1direction, OUTPUT);
62
pinMode(m1speed, OUTPUT);
pinMode(m2speed, OUTPUT);
pinMode(obstacle, INPUT);
//pinMode(pot, INPUT);
pinMode(m22, OUTPUT);
//char rxb yte = 0;

intpotval = 120;
voidloop()charrxb yte = 0; intval = 0;
analogWrite(m1speed,potval);
analogWrite(m2speed,potval);
//potval=analogRead(pot);
//potval=map(potval,0,1023,0,255);
val=analogRead(obstacle);
Serial.println(potval);
// analogWrite(m1speed,potval);
// analogWrite(m2speed,potval);
Serial.println(val);
delay(255);
if (val<=455)
goto normal;
else
goto stopp;
normal: if (Serial.available() > 0) // is a character available?
rxb yte = Serial:read();
Serial:println(rxb yte);
switch(rxb yte)case0 00 :
Serial.println("||- MENU ||-");
Serial.println("1. goForward.");
Serial.println("2. goBackward.");
Serial.println("3. rotateRight.");
Serial.println("4. rotateLeft.");
Serial.println("5. stop.");
Serial.println("||||||{");
case '1':
63
digitalWrite(m1direction,HIGH); // forward
digitalWrite(m12direction,LOW);
Serial.println("FORWARD");
//delay (2000);
break;
case '2':
digitalWrite(m1direction,LOW); // forward
digitalWrite(m12direction,HIGH);
Serial.println("BACK");
//delay (2000);
break;
case '3':
Serial.println("rotateRight");
//delay (2000);
break;
case '4':
Serial.println("rotateLeft");
//delay (2000);
break;
case '6':
potval=255;
64
break;
case '7':
potval=190;
break;
case '8':
potval=90;
break;
stopp: case '5':
digitalWrite(m22,HIGH);
delay (100);
digitalWrite(m22,LOW);
analogWrite(m1speed,0);
analogWrite(m2speed,0);
Serial.println("||- MENU ||-");
Serial.println("1. goForward.");
Serial.println("2. goBackward.");
Serial.println("3. rotateRight.");
Serial.println("4. rotateLeft.");
Serial.println("5. stop.");
Serial.println("||||||{");
break;
st: default:
Serial.println("Invalid option");
break;
//delay(2000);
// end: switch (rxb yte)
==end : if (Serial:available() > 0)
65

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BAHIR DAR UNIVERSITY

BAHIR DAR INSTITUTE OF

Faculty of Electrical Engineering

A project submitted to faculty of Electrical Engineering of Bahir Dar Uni-

Mengistu Baye P. Manager:

Mubarek Kebede Date:

Thank you so much!

In this project, interface is designed therefore to develop the program

1.1 Background Information

Suppose, if operator is willing to go towards right side then he/she just

Voice recognition is commonly used to operate a device, perform com-

We can train a neural network so that a particular input leads to a spe-

Then after successfully recognizing(classify) the speech and speaker the

A handicapped person with locomotive disabilities needs a wheelchair to

Generally this work is inspired by the handicapped person with locomo-

1.3 Objectives of the Project

1.3.1 General Objective

1.3.2 Speci c Objectives

Figure 1.1: Methodology for the work

Independent mobility is an important aspect of self-esteem and plays a piv-

1.6 Scope of the Project

1.7 Limitation of Project

The limitation of the project is as follows

1.8 Organizations of the Project

This project is composed of ve dependent chapters; in chapter one the intro-

2.1 Review of Controlling of Smart Wheelchair

A handicapped person with locomotive disabilities needs a wheelchair to

Joystick controlled Power chairs may be designed for indoor, outdoor

2. Speech recognition using digital signal processing: This paper truly

3. Voice recognition circuit for home automation system: This project

4. This project is approximately the same as the above project which is

5. Speech Recognition using MFCC: This paper describes an approach of

6. Speaker Recognition System using MFCC and Vector Quantization

voice recognition technology is a key technology which can provide a new

The voice recognition module it is the speech and speaker recognition

Figure 3.1: Block diagram for General System

Here we try to discuss the software part of our system by dividing it in

3.2.1 Joint Speech and Speaker Recognition Using Neu-

Pre-emphasise: to compensate the high-frequency part that was sup-

s2 (n) = s(n) a s(n 1)

Zero-crossing and Short Time Energy

In the context of discrete-time signals, a zero crossing is said to occur

A de nition for zero-crossings rate is:

Short Time Energy:

Feature Extraction Using MFCC

A block diagram of the structure of an MFCC processor is given in Figure

The speech input is recorded and preprocessed in the above steps.after

Step 1: Frame blocking

The next step in the processing is to window each individual frame so

Step 3: Fast Fourier Transform

Step 4: Mel-frequency wrapping

This step is used to Compute the Mel-spaced lterbank. This is a set of

F (Mel) = [2595] log[1 + f ]700

Step 6: Delta and Delta-Deltas

Also known as di erential and acceleration coecients. The MFCC fea-

Delta-Delta (Acceleration) coecients are calculated in the same way,

Neural networks try to imitate the highly parallel, distributed computa-

Figure 3.5: Simple perceptron models

The activation function is a function used to transform the activation level

Figure 3.6: logistic activation function

Figure 3.7: Forward propagation

Here the hypothesis is computed with forward propagation algorithm the

To minimize the cost we use the static gradient ; as it allows us to calculate

1.3.2 Specic Objectives

A denition for zero-crossings rate is:

Also known as dierential and acceleration coecients. The MFCC fea-

Delta-Delta (Acceleration) coecients are calculated in the same way,

fx = max R = 0:7 1175:19 = 822:6N

Metal Oxide Semiconductor Field Eect Transistor (MOSFETs) which are

Figure 4.6: Mel frequency coecient for sampled voice data

3. Speaker classication using neural network