Robotics Project Lakad

(1.
) PROJECT PROFILE
Project Title LAKAD: Assistive Technology for the Visually Impaired
Name of Project Esnara, Dejana, K.

Proponents Tauli, Kyra Guane, E.
Gosadan, Elisha Kylle, M.
Region Cordillera Administrative Region (CAR)
Division Benguet
School Cordillera Regional Science High School
Grade Level Grade 9
Project Duration Four Months

(months)
Email esnara.dejana16@gmail.com
Contact Number 09098683719
(2.) CATEGORY OF RESEARCH
Physical Science
Life Science
Robotics and Intelligent Machines
Mathematics and Computational Sciences
(3.) Individual
Team
(4.) THEME
Food Safety Water Conservation

Renewable Energy Cyber Security
Traffic/Road Congestion Health
Disaster Mitigation Agriculture and Environment
Others (please specify): Assistive Technology
ESNARA, D., GOSADAN, E., TAULI, K. | June 2022
LAKAD: Assistive Technology for the Visually Impaired
TABLE OF CONTENTS
Project Profile ........................................................................................................................... 1
Table of Contents ...................................................................................................................... 2
List of Figures ........................................................................................................................... 3
List of Tables ........................................................................................................................... 3
Executive Summary .................................................................................................................. 4
INTRODUCTION
Rationale/Significance of the Study.............................................................................. 5
Theoretical Framework ................................................................................................. 6
Objectives ...................................................................................................................... 8
REVIEW OF RELATED LITERATURE ................................................................................ 9
METHODOLOGY
Research Design...........................................................................................................13
Variables to be Measured and Analyzed ..................................................................... 13
Sensors/Materials Used ............................................................................................... 14
Model .......................................................................................................................... 17
Safety Risk and Concern............................................................................................. 18
Circuit Layout ............................................................................................................. 18
Code ............................................................................................................................ 21
FLOWCHART ........................................................................................................................ 32
EXPECTED OUTPUTS AND POTENTIAL IMPACTS ...................................................... 34
WORK PLAN AND TARGET DELIVERABLES ................................................................ 35
REFERENCES ........................................................................................................................ 36
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LIST OF FIGURES
Figure No. Figure Description Page
Figure 1. PIR Motion Sensor 14
Figure 2. Ultrasonic Sensor 14
Figure 3. Arduino GSM Shield ` 15
Figure 4. Adafruit Ultimate GPS Breakout 16
Figure 5. Model of Walking Stick 17
Figure 6. Model of Wristband 17
Figure 7. Circuit Layout for Walking Stick 18
Figure 8. Emergency Notification Circuit 19
Figure 9. Circuit Layout for Wristband 20
Figure 10. NMEA Sentences 26
Figure 11. Parsed NMEA Sentences 30
Figure 12. Visualizing the User’s Path 31
Figure 13. Flowchart for Walking Stick 32
Figure 14. Flowchart for Wristband 33
LIST OF TABLES
Table No. Table Description Page
Table 1. Timetable of the Writing of the Initial Manuscript 35
Table 2. Workplan for the Assembly of the Robot and 35
Writing of the Final Manuscript
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EXECUTIVE SUMMARY
One of the most significant uses of walking sticks is to help maintain overall balance
and provide the blind the confidence to independently reach their destination. Globally, the
growing population of blind and chronically sick individuals has increased the demand for
walking sticks, as has the development of self-guiding walking sticks with digital features.
However, standard walking sticks are mostly designed to detect impediments and barriers on
pathways. The primary goal of this research is to program assistive technologies onto
personalized wristbands and walking sticks to aid the blind, not only in detecting stationary
obstacles, but also in crossing roadways.
On the walking stick, a motion sensor, ultrasonic sensor, and GSM module will be
configured, to help detect moving vehicles within a five-meter range, stationary obstacles in
the way, and help send emergency notifications to chosen contacts should the need arise. The
wristband will be fitted with a GPS module to determine the user’s location. With the Google
Maps Pedestrian feature of marking and locating crosswalks, the researchers also aim to utilize
this to help the user locate nearby crosswalks relative to their current location. Overall, this
research aims to provide the blind a safer navigational environment through assistive
technologies.
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INTRODUCTION
Rationale/Significance of the Study
For the visually impaired, navigation is one of the most difficult challenges they face
in their daily lives. Navigating crowded streets, going up and down the stairs, and crossing
the road are simple, everyday tasks for others that pose great difficulty for these sight-impaired
individuals. They heavily rely on their hearing and touch, as well as assistive tools like walking
sticks and canes, to reach their destinations safely, but these senses and tools do not always
work to their advantage especially when crossing the road.
Crossing the road is one of the most endangering tasks for visually impaired
individuals as sight is crucial in determining when and where it is safe to cross. They rely on
the sound of traffic to safely navigate crossways, but in busy intersections, the overlapping
sounds of numerous vehicles make it difficult to determine which cars are moving and which
cars are not. Apart from that, the visually impaired also have difficulty finding crosswalks,
which can be dangerous as crossing the road on an unmarked pavement (or jaywalking) can
catch drivers off guard and increase the likelihood of accident and collision.
Although there have been numerous research and studies conducted to help the blind
navigate more freely and independently, there is yet to be a study aimed at helping the blind
navigate crossways more safely and locate crosswalks more accurately. This brings us to
LAKAD, a walking stick and wristband designed to help the blind locate pedestrian crossings
and determine the right time to cross. With LAKAD, the blind can move confidently without
relying on others, navigate intersections more safely, decrease accidents and collisions on the
road, and ultimately benefit in terms of safe travelling.

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Theoretical Framework
The model and system idea employed by Jose et al. (2016) provide the theoretical
foundation of this investigation. According to their study on a smart walking stick forvisually
disabled individuals, the proposed combination of multiple functioning components forms a
real-time system that monitors the position of the user and offers dual feedback making
navigation more safe and secure. Initially, ultrasonic sensors play a major role in the
development of the model as they are used for the different sensing units in the system.
Ultrasonic sensors operate on a mechanism similar to radar which evaluates the qualities of a
target by interpreting the echoes from radio or sound waves accordingly. They produce high-
frequency sound waves and analyze the echo that the sensor hears back. After which, they
calculate the time gap between transmitting the signal and receiving the echo to measure the
distance to an object. The embedded system receives that signal. When compared to other types
of sensors, the main benefit of ultrasonic sensors is their immunity to noise.
In addition, a global positioning unit (GPS) technology with pre-programmed locations
plays a major role in the development of the model as it is used to determine the
most desirable route to take. The GPS module, which is integrated into the walking stick, is
used to track the human's current location and sends it to the level converter. The level
converter is then used to change the logic of the GPS receiver signal so that it is acceptable to
the embedded system. The position of the destination is set from a list using voice messages
and a memory card. If the user deviates from the desired path, the voice synthesizer and speaker
are used to generate voice messages. Additionally, a global system for mobile (GSM) module
and relay are used for the equipment switching. It aids in the transfer of information about the
desired operation on the equipment and generates corresponding switching actions. GSM users
connect to the service provider using Subscriber Identity Module (SIM) cards. Also, a battery
provides power to all of the system's units.

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The microcontroller, which is the heart of the device, uses GPS data to calculate the
distance to the destination and generate a message to warn the user ahead of time. The
ATmega328P microcontroller or Arduino Uno was used in the same study. This
microcontroller is a member of the 8-bit microcontroller family. The ATmega328P is an 8-bit
CMOS low-power microcontroller based on the AVR-enhanced RISC architecture. The
ATmega328P achieves throughputs approaching 1 MIPS per MHz by executing powerful
instructions in a single clock cycle, allowing the designed system to optimize power
consumption versus processing speed.
The theory examined by Singh, R., Succena, and Singh, N. (2016) lends further support
to this study. Their proposed system aims to allow visually impaired individuals to navigate
through a path of dynamic objects. The passive infrared sensor (PIR sensor) is among the
sensors used. It is an electronic sensor, also referred to as a "Pyroelectric" or "IR Motion"
sensor, that detects infrared light emitted by objects in front of it. When a nearby dynamic
obstacle, such as an approaching vehicle, is detected, the PIR sensor responds by sending a
signal to the connected relay (an electromechanical switch), which then turns on
the vibrating motor. The user is then notified by a buzzer of the presence of a dynamic
obstacle in the path.
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Objectives
The main objective of this study is to make it easier for visually impaired individuals
to navigate busy roads through the smart stick and locate crosswalks with the wristband. This
concept suggests a motion sensor and ultrasonic sensor integrated into the walking stick to
assist them in safely and confidently crossing the road, as well as help them in acquiring
personal independence in a technology-controlled society where people strive to live freely.
The concept also suggests the integration of a GPS module and Google Street View system on
the wristband to help them locate nearby crosswalks.
Specifically, the study aims to create a system that provides:
1. A walking stick integrated with a PIR motion sensor that will detect moving objects
within a 5-meter range, and an ultrasonic sensor that will detect stationary objects or
obstacles in the path, such that when they are within 35 cm or 12 inches of the user, the
integrated buzzer will activate.
2. An emergency button additionally attached to the walking stick to send message
notifications to specific contacts regarding the user’s current location in case of an
alarming situation.
3. A wristband containing a GPS module to locate nearby crosswalks, and a Bluetooth
earpiece that sends signal transmissions through a voice output.
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REVIEW OF RELATED LITERATURE
Lai and Chen (2006) conducted a study wherein they investigated the theory that the
blind is prone to possessing better senses of hearing and touch than normal people due to the
so-called "sensory compensation." The researchers have studied the sensory differences
between the blind and the sighted, specifically analyzing their hearing, touch, and kinesthesia
sensations through scientific methods. It further aims to provide a general guideline for product
designers working on "designs for the blind." An experiment revealed that the blind does not
develop better hearing due to a sensory compensation effect, as initially assumed. Another
experiment indicated that the blind has sharper sensation at their fingertips than the sighted.
Even so, the sighted were able to complete the test using the center of their palm in significantly
less time than the blind.
To sum up, the set of sensory ability experiments showed that the sighted performed
better than the fully blind in 12 tests out of the 22 items used, while the blind outperformed
the sighted in only 10 tests. The ANOVA analysis particularly explained that the difference in
sensory ability between the two groups was statistically significant in only eight of the 22 items
tested. Meanwhile, the two subjects did not have a significant difference in the remaining 14
tests. The findings in this study may as well serve as a reference for the design of specific
products for actual use in the future. It was suggested that product designers focus more on
improving product friendliness, appropriateness, and safety for visually impaired users.
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In a study conducted by Laxmi and Santhosh (2021), a shoe-based obstacle system for
people with visual disabilities was developed. Its main objective was to assist the user in the
likelihood of an obstacle in his or her path. Here, the system is fitted in the shoes of the
individual, while the force-sensitive resistor (FSR) sensor is in the lower part of the shoes. The
piezoelectric component of the sensor performs this function. Thus, the system will only be
activated when the person wears the shoes and stands. There were two sensors in the system
used to detect the obstacles – an ultrasonic sensor and an infrared sensor. The obstacle's
distance is calculated using an ultrasonic sensor, which is then sent to the system. The
technology employs an infrared sensor to detect fewer false positives. As soon as the distance
reaches the system, it is checked with the allotted distance limit. Depending on the calculated
distance, a buzzer will be activated, and the individual will be alarmed that there is an obstacle
ahead. If the distance between the obstacle and the sensor is less than 20 feet, the obstacle is
very close and PWM signals are activated at short intervals. If the obstacle is between 20 and
50 feet away, it is not too far away, and PWM signals are engaged at regular intervals. If the
obstacle is more than 50 feet away, it is not considered. In this investigation, the
microcontroller is connected to the sensor for data collection and to a Wi-Fi module for data
transmission to the cloud environment.
The researchers of the study used the Thingspeak cloud environment as it was said to
be economic and serves their purpose well. To access the Thingspeak web page, the caretaker
or guardian of the blind will be provided a unique Uniform Resource Locator (URL). The
guardian can keep an eye on the chart of obstacle distances in intervals on this website and
warn the individual if they come across anything dangerous. The research paper, however,
did not further discuss the actual performance of the device when used by thevisually disabled
individual.
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In a similar study conducted by Gayathri, et al. (2014), the concept of the overall system
presented in their study provides a low cost and efficient navigation aid for the blind by
providing information about the environmental scenario of objects around them. The embedded
system uses an ultrasonic sensor, pit sensor, water sensor, global positioningsystem (GPS)
receiver, level converter, driver, vibrator, voice synthesizer, keypad, speaker or headphone, and
battery. In the sensor unit, the ultrasonic sensor helps detect objects of not less than 3 cm wide
lying on the ground, situated certain meters from the user. When in use, a beam of ultrasound
with a frequency of 40kHz is sent forward at regular intervals. The sensor will then check if
there are any nearby obstacles by detecting the reflected sound beam. For water indication,
electrodes are attached to the bottom of the stick. The blind person will receive a notification
when water is sensed.
Meanwhile, infrared sensors are used to detect if there are any pit holes in the path.
These diffused photoelectric beam sensors, also known as IR proximity sensors, consist of both
a transmitter and a receiver. Infrared rays are then emitted and reflected on the receiver through
the object to be registered. Furthermore, the GPS unit consists of the microcontroller, a GPS,
and one voice module to generate the voice. The microcontroller stores the data of the current
location which it receives from the GPS system to be compared with the destination
of the user. Once the distance to the location is traced, an alarm will be produced to alert the
user in advance.
The resulting performance of the proposed method showed that the stick is only limited
to four locations. Consequently, the navigation system will need to convey information other
than that as the device is not feasible to provide guidance information at high intermittencies.
The study further recommends that the design be improved before commercial production.
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Expanding the ultrasonic sensor's range, placing a system for estimating the speed of
incoming obstacles, using external synchronization to save more routes, and adding a voice
control with speech recognition were some of the suggested actions to improve smart stick’s
overall performance.
Singh (2020) conducted similar research with an objective aimed to develop a smart
electronic stick with features that are absent in the conventional stick. Designed with a
supporting rod structure, the smart stick also equips different sensors such as ultrasonic sensors
which are used for detecting obstacles that hinder the user's path, PIR sensors used to detect
pits on the road and uneven surfaces, a pair of electrodes that were fitted at the bottom to check
water on the road, a TCRT1000 sensor used for detecting pulse rate of the user, and a
temperature sensor used to detect body temperature. A GPS module, as well, has been included
to track the location of the user. Each sensor was positioned at different heights of stick
according to requirement. Results confirmed that with the help of this smart walking stick,
blind and elderly users can advance more than 15-20% travel speed, reduce minor collisions,
not lose their way, and increase safety and confidence. Results indicate that older users who
were blind could boost their travel speed by more than 15% to 20%, reduce minor collisions,
find their way without getting lost, and feel more secure.
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METHODOLOGY
Research Design
The study will use the one-shot research design for there are no controlled variables in
the study. The one-shot case design is a type of experimental research where a single group of
test subjects is treated and only a single measurement is taken afterwards. It only measures
the post-test results and does not have a control group (Campbell & Stanley, 1963). Likewise,
the researchers of this study will only measure the post-test results of the study and determine
if the treatment influenced the outcome. The researchers will try to see if the robot will work
and serve its function as an assistive robot for the blind.
Variables to be Measured and Analyzed
The dependent variable in this study, which is to be measured, is that of the
effectiveness of the walking stick and wristband in detecting the motion of cars and locating
crosswalks. This will be greatly affected by the construction of the walking stick and wristband
(independent variable), whether they are poorly designed, or the components used are faulty.
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Sensors/Materials Used
The sensors to be used in this study are a Passive Infrared Motion (PIR) sensor,
ultrasonic sensor, and GSM module which will be integrated into the walking stick; and a GPS
sensor, specifically the Adafruit Ultimate GPS Breakout System, that will be fitted into the
wristband.
The PIR motion sensor has a wide lens range
and can detect moving objects within a 5 m to 12 m
radius, reducing the need to set a range in the code
later on. It has a simple interface to work with, and it
provides great control with minimal effort (Adafruit
IO, 2014).
Figure 1: PIR motion sensor
The HC-SR04 Ultrasonic Sensor, on the other hand,measures the distance to an object,
considering the travel time and speed of the sound. It emits an ultrasound at 40 kHz that travels
through the air and is reflected to the module if it encounters an object or obstacle (Jabbaar, 2019).
Figure 2: Ultrasonic Sensor
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Meanwhile, the Arduino GSM Shield allows the Arduino board to connect to the
Internet using the GPRS wireless network. This gives the ability to send an SMS textmessage
to certain mobile devices and even make or receive voice calls, given an external speaker and
microphone circuit. To interface with a cellular network, however, the board requires a SIM
card provided by a network operator.
Figure 3: Arduino GSM Shield
The Adafruit Ultimate GPS Breakout, on the other hand, can track up to 22 satellites
and make about 10 location updates in a second. It has a high-sensitivity receiver (-165 dBm)
and a built-in antenna, and only uses 20 mA of power for navigation. With its built-in data logging
ability, the person’s coordinates, as well as the time and date, are logged in every 15 seconds
when there is a fix (a “fix” is when the GPS sensor can detect at least three satellites to detect and
receive a signal from a satellite). The raw GPS data from the module can be opened through the
Arduino IDE when connected to the microcontroller (Adafruit IO, 2014).
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Figure 4: Adafruit Ultimate GPS Breakout
Additional electrical components include a vibration motor, buzzer, and push button
which will be fitted into the handle of the walking stick. A Bluetooth earpiece will also be
connected to the wristband, so that when a crosswalk is detected nearby, a certain audio output
will be transmitted through the earpiece and the user will be informed. Other electrical
components include jumper wires, a transistor, and of course, the Arduino Uno
microcontroller.
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Model
The design for the walking stick and
wristband is simple. The Arduino Uno
microcontroller, PIR motion sensor, and ultrasonic
sensor will be placed at the bottom of the walking
stick, right above the tip that meets the ground. The
vibration motor, buzzer, and pushbutton will be
placed on the handle.
Figure 5: Model for the Walking Stick
On the other hand, the GPS module and Arduino
Uno board will be attached to a regular wristband. A
regular Bluetooth earpiece will also be connected.
Figure 6: Model for the Wristband
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Safety Risk and Concern
Due to the outdoor nature of this study, the components and sensors used can be
exposed to various hazards, most specifically, water from rain, puddles, and other street-related
factors. To cope with this, the researchers devised a solution by enclosing the various
components and sensors in a metal box or cylinder for the walking stick and a small plastic
container for the wristband. This way, the components are protected from outdoor water and
are stored and organized in one place.
Circuit Layout
For the smart stick, the PIR motion sensor and ultrasonic sensor, as well as the buzzer
and vibration motor, will be connected to an Arduino Uno board as shown:
Figure 7: Circuit Layout for Walking Stick
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In this figure, the PIR motion sensor is connected to digital pin 2 on the Arduino, with
the ultrasonic sensor trigger and echo pins connected to 9 and 10. Each has a power output of
5 volts. The vibration motor is connected to an NPN Transistor, which is connected to digital
pin 3 on the Arduino, while the buzzer is connected to pin 11.
For the emergency notification circuit, a GSM Module and pushbutton will be
connected to an Arduino Uno board as well. The GSM Arduino Shield will be connected to the
TXD and RXD pins of the Arduino, which enable the microcontroller to connect to mobile
devices. When the button is pressed, the GSM module will relay a text message to a chosen
supervisor’s mobile device, informing them that an accident has occurred.
Figure 8: Emergency Notification Circuitry
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For the wristband, the Adafruit Ultimate GPS Breakout will be connected to an
Arduino Uno board.
Figure 9: Circuit Layout for the Wristband
The GPS module has a power output of 5V and is connected to pins 1 and 0 on the
Arduino.
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Code
The code for the walking stick motion sensor and ultrasonic sensor circuit is as
follows:
int motorPin = 3; // the pin that the vibration motor is attached to
int sensor = 2; // the pin that the motion sensor is attached to
int state = LOW; // by default, no motion detected
int val = 0; // variable to store the sensor status (value)
const int trigPin = 9; // the pin the trigger pin is connected to
const int echoPin = 10; // the pin the echopin is connected to
const int buzzer = 11; // the pin the buzzer is connected to
// defines variables
long duration;
int distance;
int safetyDistance;
void setup()
pinMode(motorPin, OUTPUT); // Sets the motorPin as an Output
pinMode(buzzer, OUTPUT); // Sets the buzzer as an Output
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
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pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin (9600); // Initializes the serial
void loop()
val = digitalRead(sensor); // read sensor value
if (val == HIGH) { // check if the sensor is HIGH
tone (11, 450); // buzzer will beep
delay(250); // buzzer will beep for 250 milliseconds
noTone (11); // buzzer will stop beeping
delay (250); // buzzer will stop beeping for 250

milliseconds
if (state == LOW) {
Serial.println("Motion detected!");
state = HIGH; // update variable state to HIGH
else {
delay(50); // buzzer will stop beeping after 50 milliseconds
if (state == HIGH){
Serial.println("Motion stopped!");
state = LOW; // update variable state to LOW
// Clears the trigPin
digitalWrite(trigPin, LOW);
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delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
// motor will vibrate if object is 30 centimeters away
safetyDistance = distance;
if (safetyDistance <= 30){
digitalWrite(motorPin, HIGH);
else
digitalWrite(motorPin, LOW); // motor will not vibrate
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);
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Simply put, once the motion sensor detects movement within a 5 m radius, the buzzer
will activate, informing the user that a vehicle is approaching. (val == HIGH) means the
sensor has detected motion and with tone (11, 450); delay (250), the buzzer is
instructed to buzz for a duration of 250 milliseconds. The tone will not be constant
throughout.
val = digitalRead(sensor); // read sensor value
if (val == HIGH) { // check if the sensor is HIGH
tone (11, 450); // buzzer will beep
delay(250); // buzzer will beep for 250 milliseconds
delay (250); // buzzer will stop beeping for 250 milliseconds
However, when the sensor detects no movement, the buzzer will not activate.
else {
delay(50); // buzzer will stop beeping after 50 milliseconds
if (state == HIGH){
Serial.println("Motion stopped!");
state = LOW; // update variable state to LOW
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For the emergency notification circuit, the code is as follows:

int state = 0;
const int pin = 8;
void setup()
Serial.begin(9600);
void loop()
if (digitalRead(pin) == HIGH && state == 0) {
Serial.print("\r");
delay(100);
Serial.print("AT+CMGF=1\r");
delay(100);
Serial.print("AT+CMGS=\"+aabbbbbbbbbb\"\r");
Serial.print("AT+CMGS=\"+aacccccccccc\"\r");
Serial.print("AT+CMGS=\"+aacccccccccc\"\r");//International no.
delay(100);
Serial.print("HELP,Accident on [current location]");//Emergeny

message
delay(100);
Serial.write(0x1A);
delay(100);
state = 1;
if (digitalRead(pin) == LOW && state == 1) {
state = 0;
}
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When the button is pressed, an SMS text message ("HELP,Accident on [current
location]")will be sent to a certain contact or supervisor, informing them of the user’s
current condition and whereabouts.
As for the GPS-Arduino circuit connection, the user’s location will be given in the form
of NMEA sentences like the following:
Figure 10: NMEA Sentences
These sentences provide information about the user’s location, and the first word of
an NMEA sentence defines the interpretation of the rest of the sentence. When a sentence starts
with GPRMC, it details the user’s latitude and longitude position, the cardinal direction of these
latitude and longitude positions, the current time, status code, ground speed in knots, date of
satellite fix, Course Made Good reading, magnetic variation, direction of magnetic variation,
and checksum.
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When a sentence starts with GPVTG, the Track Made Good and ground speed values
are given.
In a GPGGA sentence, data about the fix quality and the number of satellites is
provided,
and more information about the fix quality is given in a GPGGA sentence.
NMEA sentences are difficult to decipher and understand. For this reason, the
researchers have decided to parse these sentences and make them easier for both the readers
and researchers to understand through the following code:
#include <Adafruit_GPS.h>
#include <SoftwareSerial.h>
SoftwareSerial mySerial(3, 2);
Adafruit_GPS GPS(&mySerial);
char c;
void setup() {
Serial.begin(9600);
GPS.begin(9600);
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GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
delay(1000);
void loop() {
clearGPS();
while (!GPS.newNMEAreceived()) {
c = GPS.read();
GPS.parse(GPS.lastNMEA());
Serial.print("Time: ");
Serial.print(GPS.hour, DEC);
Serial.print(':');
Serial.print(GPS.minute, DEC);
Serial.print(':');
Serial.print(GPS.seconds, DEC);
Serial.print('.');
Serial.println(GPS.milliseconds);
Serial.print("Date: ");
Serial.print(GPS.day, DEC);
Serial.print('/');
Serial.print(GPS.month, DEC);
Serial.print("/20");
Serial.println(GPS.year, DEC);
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Serial.print("Fix: ");
Serial.print(GPS.fix);
Serial.print(" quality: ");
Serial.println(GPS.fixquality);
Serial.print("Satellites: ");
Serial.println(GPS.satellites);
if (GPS.fix) {
Serial.print("Location: ");
Serial.print(GPS.latitude, 4);
Serial.print(GPS.lat);
Serial.print(", ");
Serial.print(GPS.longitude, 4);
Serial.println(GPS.lon);
Serial.print("Google Maps location: ");
Serial.print(GPS.latitudeDegrees, 4);
Serial.print(", ");
Serial.println(GPS.longitudeDegrees, 4);
Serial.print("Speed (knots): ");
Serial.println(GPS.speed);
Serial.print("Heading: ");
Serial.println(GPS.angle);
Serial.print("Altitude: ");
Serial.println(GPS.altitude);
Serial.println(" ");
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void clearGPS() {
c = GPS.read();
c = GPS.read();
When the code is uploaded, the NMEA sentences will now look like this:
Figure 11: Parsed NMEA Sentences
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With the GPS data finally gathered and parsed, the researchers will now take this data
and visualize the path taken by the user. By converting this into a .kml file using the website
gpsvisualizer.com, the coordinates will be plotted on Google Maps and the user’s path will be
seen and tracked.
Figure 12: Visualizing the User’s Path
The researchers aim to use this concept in helping the blind locate nearby crosswalks
by plotting the user's coordinates and visualizing his/her path in real time as he/she ismoving.
The researchers also aim to integrate the Google Maps pedestrian mode feature of locating
pedestrian crossings so that through a speaker integrated into the circuit, a speech output will
be transmitted to inform the user that he/she is nearing a crosswalk.
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FLOWCHART OF METHODS AND PROCEDURES
Figure 13: Flowchart of Methods for the Walking Stick
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Figure 14: Flowchart of the Procedures for the Wristband
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EXPECTED OUTCOMES AND POTENTIAL IMPACTS
The proposed system in the study is expected to provide several benefits to visually
impaired individuals. Fundamentally, the developed Arduino-based system attached to the
walking stick will aid the user when walking along busy streets. It will be able to detect
approaching vehicles and alert the user via vibrations in the handle. Meanwhile, the wristband
equipped with a GPS module will determine the user's current location, allowing him/her to
find the best route to the crosswalk. This will allow the blind person to travel more safely, with
fewer worries when crossing the road.
Furthermore, this study is structured to serve as a technological innovation designed
with the potential to impact a larger population in future generations. The strategies in this
study will contribute to community safety, decreasing the number of vehicular accidents
involving visually impaired citizens. Thus, the developed system in the study may be adopted
and implemented to sustain a safe environment, especially for visually impaired individuals.
Page | 34
WORK PLAN AND TARGET DELIVERABLES
Table 1. Timetable of the Writing of the Initial Manuscript
JUNE 6-9, 2022 Final Decision for the Title of the Research Proposal
JUNE 10, 2022 Distribution of Assigned Parts
JUNE 13-17, 2022 Chapter 1: Executive Summary
Chapter 2: Introduction
JUNE 18-20, 2022 Chapter 3: Review of Related Literature
JUNE 21-24, 2022 Chapter 4: Methodology
Chapter 5: Expected Outputs and Potential Impacts
Finalization of the Research Proposal
Table 2. Workplan for the Assembly of the Robot and Writing of the Final Manuscript
ONE WEEK Planning of the Research Project
THREE WEEKS Gathering of Materials
Assembling of the
Robot
ONE WEEK Testing of the Final Product
Checking of Mishaps on the Assembly and

Programming
TWO WEEKS Writing of the Final Manuscript
Page | 35
REFERENCES
Adafruit IO: IoT for Everyone (2014). Adafruit Learning System.
https://learn.adafruit.com/pir-passive-infrared-proximity-motion-sensor
Adafruit IO: IoT for Everyone (2014). Adafruit Learning System.
https://www.adafruit.com/product/746
Gayathri, G., Vishnupriya, M., Nandhini, R., & Banupriya, M. (2014). Smart Walking Stick
for Visually Impaired. International Journal Of Engineering And Computer Science,
3(3), 4057-4061. http://www.ijecs.in/index.php/ijecs/article/view/151
Jabbaar, A. (2019). Ultrasonic Sensor HC-SR04 with Arduino Tutorial. Project Hub.
https://create.arduino.cc/projecthub/abdularbi17/ultrasonic-sensor-hc-sr04-with-ardui
no-tutorial-327ﬀ6
Jose, A., George, G., Nair, M., J, S., Mathai, M. (2016).Voice Enabled Smart Walking Stick
For Visually Impaired. International Journal of Advanced Research in Electrical,
Electronics and Instrumentation Engineering, vol. 5, issue 3.
https://www.ijareeie.com/upload/2016/ncreee/13_PID214.pdf
Lai, H.-H., & Chen, Y.-C. (2006). A study on the blind’s sensory ability. International Journal
of Industrial Ergonomics, 36(6), 565–570.
https://doi.org/10.1016/j.ergon.2006.01.015
Laxmi Raja, R., Santhosh, R., Raja, L., & Santhosh, R. (2021). Experimental Study on Shoe
Based Navigation System for the Visually Impaired. Materials Today: Proceedings,
45, 1713–1716. doi:10.1016/j.matpr.2020.08.615
Page | 36
Sahoo, N., Lin, H. W., & Chang Y. H. (2019). Design and Implementation of a Walking Stick
Aid for Visually Challenged People.
https://www.researchgate.net/publication/330109495_Design_and_Implementation_of
_a_Walking_Stick_Aid_for_Visually_Challenged_People
Singh, R., Succena, A., & Singh, N. (2016). PIR Based Blind Walking Stick. International
Journal of Computer Science and Mobile Computing, vol. 5, issue 4, 486-490.
https://docplayer.net/50003221-Pir-based-blind-walking-stick.html
Singh, S., & Singh, B. (2020). Intelligent Walking Stick for Elderly and Blind People.
International Journal of Engineering Research & Technologies (IJERT), 9(3).
https://www.ijert.org/intelligent-walking-stick-for-elderly-and-blind-people
Vision Australia: Accident Research Centre. (2018). The Impact of Electric/Hybrid Vehicles
and Bicycles on Pedestrians Who are Blind or Have Low Vision.
https://researchmgt.monash.edu/ws/portalﬁles/portal/312004360/303909830_oa.pdf
Page | 37

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Robotics Project Lakad

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(1.

Project Title LAKAD: Assistive Technology for the Visually Impaired

Name of Project Esnara, Dejana, K.

Region Cordillera Administrative Region (CAR)

School Cordillera Regional Science High School

Grade Level Grade 9

Project Duration Four Months

Contact Number 09098683719

(2.) CATEGORY OF RESEARCH

Food Safety Water Conservation

Project Profile ........................................................................................................................... 1

Table of Contents ...................................................................................................................... 2

List of Figures ........................................................................................................................... 3

List of Tables ........................................................................................................................... 3

Executive Summary .................................................................................................................. 4

Rationale/Significance of the Study.............................................................................. 5

Theoretical Framework ................................................................................................. 6

REVIEW OF RELATED LITERATURE ................................................................................ 9

Variables to be Measured and Analyzed ..................................................................... 13

Sensors/Materials Used ............................................................................................... 14

Safety Risk and Concern............................................................................................. 18

Circuit Layout ............................................................................................................. 18

EXPECTED OUTPUTS AND POTENTIAL IMPACTS ...................................................... 34

WORK PLAN AND TARGET DELIVERABLES ................................................................ 35

Figure No. Figure Description Page

Figure 1. PIR Motion Sensor 14

Figure 2. Ultrasonic Sensor 14

Figure 3. Arduino GSM Shield ` 15

Figure 4. Adafruit Ultimate GPS Breakout 16

Figure 5. Model of Walking Stick 17

Figure 6. Model of Wristband 17

Figure 7. Circuit Layout for Walking Stick 18

Figure 8. Emergency Notification Circuit 19

Figure 9. Circuit Layout for Wristband 20

Figure 10. NMEA Sentences 26

Figure 11. Parsed NMEA Sentences 30

Figure 12. Visualizing the User’s Path 31

Figure 13. Flowchart for Walking Stick 32

Figure 14. Flowchart for Wristband 33

Table No. Table Description Page

Table 1. Timetable of the Writing of the Initial Manuscript 35

Table 2. Workplan for the Assembly of the Robot and 35

Writing of the Final Manuscript

obstacles, but also in crossing roadways.

Rationale/Significance of the Study

work to their advantage especially when crossing the road.

road, and ultimately benefit in terms of safe travelling.

disabled individuals, the proposed combination of multiple functioning components forms a

of sensors, the main benefit of ultrasonic sensors is their immunity to noise.

In addition, a global positioning unit (GPS) technology with pre-programmed locations

provides power to all of the system's units.

microcontroller is a member of the 8-bit microcontroller family. The ATmega328P is an 8-bit

CMOS low-power microcontroller based on the AVR-enhanced RISC architecture. The

ATmega328P achieves throughputs approaching 1 MIPS per MHz by executing powerful

consumption versus processing speed.

sensors used. It is an electronic sensor, also referred to as a "Pyroelectric" or "IR Motion"

obstacle in the path.

personal independence in a technology-controlled society where people strive to live freely.

the wristband to help them locate nearby crosswalks.

Specifically, the study aims to create a system that provides:

integrated buzzer will activate.

2. An emergency button additionally attached to the walking stick to send message

notifications to specific contacts regarding the user’s current location in case of an

3. A wristband containing a GPS module to locate nearby crosswalks, and a Bluetooth