NOVEL SENSOR FOR HUMAN LOCATION DETECTION FOR SWING TYPES OF ELECTRICAL APPLIANCES BY SULLEHA BINTI PARNIN A dissertation submitted in fulfilment of the requirement for the degree of Master of Science (Mechatronics Engineering) Kulliyyah of Engineering International Islamic University Malaysia JUNE 2017
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NOVEL SENSOR FOR HUMAN LOCATION
DETECTION FOR SWING TYPES OF ELECTRICAL
APPLIANCES
BY
SULLEHA BINTI PARNIN
A dissertation submitted in fulfilment of the requirement for
the degree of Master of Science (Mechatronics Engineering)
The intervention of human to the appliances becoming less as the automated system is
rising. The key to the automatic devices is the use of a good sensor, transducer, actuator,
and excellent control system. Intelligent devices can be described as the device’s ability
in making the decision with respect to the event that is driven by the changing
environment. The current swinging appliances such as stand fan use no controller and
sensors for interacting with the environmental condition. This raises the issues of energy
wastage and inefficient angle rotation. In this dissertation, research entitles ‘novel
sensor for human location detection for swing types of electrical appliances’ is
developed. It outlined two separate sensory systems consist of LV-EZ1 Ultrasonic and
D6T-8L-06 Thermal sensors each. Systems can detect the human presence, and estimate
its location and direction which allow the swing appliances to direct itself to serve the
human. In a situation that we are unable to monitor the device at all time, the device is
expected to understand our needs in an intelligent way. It is possible to use two or more
Ultrasonic sensors to estimate the location of a subject. However, operating multiples
of Ultrasonic sensors at the close range in the same environment and overlapping beam-
path introduces interference. This research has overcome the instability of location
output due to Ultrasonic interference using Chaining and Average-Smoothing methods.
The result shows a noteworthy improvement to the Correct Output Response rate.
Subject stays from one meter-left of the Ultrasonic sensor array achieved a 99% Correct
Output Rate, recorded a 22% of improvement of sensor reading stability. The second
sensor used for detecting human location is Thermal sensor D6T-8L-06 which detecting
nothing but heat. This means, human, pets, and all the things that produce heat can be
detected too. This similarity of producing heat, however, will always have a significant
different due to diversity in properties, physical shape, size, and nature of a subject. The
pet’s fur act as an excellent insulator to Thermal radiation which difficult to be detected
by Thermal sensor. Experiments conducted on cats and human for a non-contact body
temperature shows that humans are always giving visible changes in temperature as
compared to cat. Even though it can be detected, the changes in temperature value is
too small and insignificant. Therefore, the average temperature changes of human is
used as a conditional set-point value in the program algorithm to detect any human
presence in the room. Upon the human presence, the location is estimated in terms of
angle. This angle is then become the current direction of the swing appliances. After
conducting a final test to the fans, Thermal sensor system proved to be more accurate
in detecting direction and human location compared to Ultrasonic sensory system.
Therefore, Thermal sensory system is proposed in this dissertation for cost effective
system.
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Arabخلاصة البحثABSTRACT IN ARABIC
الرئيس للاجهزة لات المعاصرة عندما يرتفع استخدام الاجهزة التي تشغل تلقائيا. والعنصريتناقص دور البشر مع الأو ناقل طاقة ومحرك ونظام تحكم متميز بشكل مناسب . يمكن وصف الاجهزة الذكية مجس التلقائية يتمثل في استخدام
لة المروحة فلا تشغل بأالحالية كة . أما الألات الدوَارة ي صلة بالبيئة المتغبخصوص حدث ذي بأنها ألة قادرة علي اتخاذ قرار هذه و وضعف زاوية الدوران . تولد عن ذلك مشكلة تبذير الطاقة لتعامل مع البيئة المتغية . اجل الأ مجسو أتحكم
) مكشاف من المجسات قادر علي تحديد موقع البشر". تم فيها إيجاد نوعينس " ابتكار حديث لمج :دراسة بعنوانال Thermal رارية( و) مكشاف السعة الح LV-EZ1 Ultrasonic sensorالموجات فوق السمعية
sensor D6T-8L-06 والذي بعده وجهته ىوإدراك مد في المكاني البشر التواجد(. كل نظام قادر على تحديدالات التي لا نستطيع متابعة سي الاجهزة علي الدوام الح. ففي يسمح بتغيي الاتجاه لخدمة الشخص المتواجد في المكان
للموجات فوق السمعية أو أكثر لتحديد يقة ذكية. يمكن استخدام مكشاف واحديتوقع من الجهاز استيعاب حاجاتنا بطر فى حيز بيئي. ومع هذا كله يتولد التداخل عندما يتم تشغيل عدد من مكشافات للموجات فوق السمعبة شخصموقع ال
شعة اتج عن تداخل الأضطراب المكاني النللايجاد حل إلى إ. توصلت الدراسة وءمتقاربة في حيز بيئي واحد مع شعاع ض( . أفادت النتيجة Average-Smoothing و Chaining ) تلطيف وتهدئة تسلسل المعدل للعمليةن طريق ع
س تم علي بعد متر يسار المجشخص بالمكان ال عند تواجدحيث ،حول تعزيز معدل استجابة الجهاز املموس اتقدمس الجهاز الادراكي. والمج ءفي قدرة ذكا 22% قق نجاحا ب ح يمر الذمن النتيجة الصحيحة الأ 99الحصول علي %
تحديد موقع البشر والحيوانات أنه بإمكانه يعني مما مكشاف السعة الحرارية . تحديد موقع البشر هوفي ستعمل المالثاني تلف حسب نصنيف ليفة بواسطته. فهذا التشابه الذي يحدث عند افراز الحرارة الدافئة بين جنس البشر والحيونات يخالأ
يصعب يالذممتاز للانبعاث الحراري ليفة مثلا يؤدي دور عازل الكائن الحي شكلا وحجما وطبيعة. ففرو الحيوانات الأرارة التي يفرزها القطط والبشر دون التقاطه عبر مكشاف الحرارة . ففي الدراسة التجريبية التي أجريت حول درجة الح
معدل تغي الحرارة في يمكن استخدام ن الفارق ضئيل وتافه. لذلك أبينهما رغم احوظمل اتغي قد عرفت حتكاك جسدي ايتم تحديد ،البشر كنقطة فاصلة في منهاج الجدولة الخوارزمية لتحديد وجود البشر فى الحيز المكاني. ففي حالة وجود البشر
خي للمراوح تم اعتماد مكشاف الحرارة أاختبار ءإجرا. فالزاوية هي التي تصبح ركنا لدوران الجهاز. وبعد وفق الزاويةالحيز لذلك، فإن هذا البحث يقترح بمكشاف الموجات فوق ا لسمعية . ةكأدق طريقة لتحديد اتجاه وجود البشر وموقعه مقارن
لأنه نظام فعال من حيث التكلفة.نظام مكشاف الحرارة
c
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APPROVAL PAGE
I certify that I have supervised and read this study and that in my opinion, it conforms
to acceptable standards of scholarly presentation and is fully adequate, in scope and
quality, as a dissertation for the degree of Master of Science (Mechatronics
Engineering).
…………………………………..
Md. Mozasser Rahman
Supervisor
I certify that I have read this study and that in my opinion it conforms to acceptable
standards of scholarly presentation and is fully adequate, in scope and quality, as a
dissertation for the degree of Master of Science (Mechatronics Engineering).
…………………………………..
Tanveer Saleh
Internal Examiner
…………………………………..
Ahmad Imran Ibrahim
Internal Examiner
This dissertation was submitted to the Department of Mechatronics Engineering and is
accepted as a fulfilment of the requirement for the degree of Master of Science
(Mechatronics Engineering).
…………………………………..
Syamsul Bahrin Abdul Hamid
Head, Department of
Mechatronics Engineering
This dissertation was submitted to the Kulliyyah of Engineering and is accepted as a
fulfilment of the requirement for the degree of Master of Science (Mechatronics
Engineering).
…………………………………..
Erry Yulian Triblas Adesta
Dean, Kulliyyah of Engineering
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DECLARATION
I hereby declare that this dissertation is the result of my own investigations, except
where otherwise stated. I also declare that it has not been previously or concurrently
submitted as a whole for any other degrees at IIUM or other institutions.
Sulleha Binti Parnin
Signature ........................................................... Date .........................................
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INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA
DECLARATION OF COPYRIGHT AND AFFIRMATION OF
FAIR USE OF UNPUBLISHED RESEARCH
NOVEL SENSOR FOR HUMAN LOCATION DETECTION FOR
SWING TYPES OF ELECTRICAL APPLIANCES
I declare that the copyright holders of this dissertation are jointly owned by the
No part of this unpublished research may be reproduced, stored in a retrieval system,
or transmitted, in any form or by any means, electronic, mechanical, photocopying,
recording or otherwise without prior written permission of the copyright holder
except as provided below
1. Any material contained in or derived from this unpublished research
may be used by others in their writing with due acknowledgement.
2. IIUM or its library will have the right to make and transmit copies (print
or electronic) for institutional and academic purposes.
3. The IIUM library will have the right to make, store in a retrieved system
and supply copies of this unpublished research if requested by other
universities and research libraries.
By signing this form, I acknowledged that I have read and understand the IIUM
Intellectual Property Right and Commercialization policy.
Affirmed by Sulleha Binti Parnin
……..…………………….. ………………………..
Signature Date
vii
ACKNOWLEDGEMENTS
My most heartfelt acknowledgement and appreciation to many names and peoples.
Subsequently I shall write their names in this section and may this dissertation remind
me of their contributions.
My utmost pleasure to dedicate this work to my dear beloved mother, Martiah Maruthi,
and my siblings, who granted me the gift of their unwavering belief in my ability to
accomplish this goal: thank you for your support and patience for waiting.
I sincerely appreciate my supervisor, Associate Professor Dr Md. Mozasser Rahman for
his continuous support and excellent supervision from the beginning of the study to its
end.
I would also like to express my gratitude to Biomechatronic laboratories members,
Huda Azam, Rabiatul, Asmarani, Nazreen, Zakia, Shazana, and Rozaidi for their
encouragement and opinions. Laboratories technician, Br. Sahlan and Br. Nasrul, for
assisting me with tools and appliances needed. My classmates and roommates, I wish
all of you the very best in your research too.
For that, I will always remember and forever grateful, and this grateful is none but
belong to the most special one and only, The Almighty Allah. That I am not able to do
this alone without His Guidance.
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TABLE OF CONTENTS
Abstract ................................................................................................................... ii Abstract in Arabic .................................................................................................. iii
Approval Page ........................................................................................................ iv Declaration .............................................................................................................. v Acknowledgements ................................................................................................ vii Table of Contents ................................................................................................... viii List of Tables .......................................................................................................... x
List of Figures ......................................................................................................... xi List of Abbreviation ............................................................................................... xiv
List of Symbol ......................................................................................................... xv
CHAPTER ONE: INTRODUCTION .................................................................. 1 1.1 Background of The Study ....................................................................... 1
1.2 Problem Statement and Its Significance ................................................. 2 1.3 Research Objectives................................................................................ 3 1.4 Research Methodology ........................................................................... 3
1.5 Scope of Research................................................................................... 5 1.6 Organization of Dissertations ................................................................. 6
CHAPTER TWO : LITERATURE REVIEW .................................................... 8
2.1 Introduction............................................................................................. 8 2.2 Swing Types of Electrical Appliances and Its Applications .................. 8
2.3 Variation of Human Body Temperature ................................................. 12 2.3.1 Human Body Heat Transfer and Radiation in Indoor
2.4 Human Presence and Location Sensing .................................................. 14 2.4.1 PIR Sensor..................................................................................... 15
SYSTEM ................................................................................................................. 35
3.1 Introduction............................................................................................. 35 3.2 Ultrasonic Sensory System ..................................................................... 36
3.2.1 Ultrasonic Sensor Maxsonar LV-EZ1........................................... 36 3.2.2 The Determination of Ultrasonic Sensor Beam Pattern Limit ...... 38 3.2.3 Overcoming Interference and The Design of Separator Length ... 43
3.2.4 Total Beam Path of Two Overlapping Ultrasonic Sensors ........... 46 3.2.5 Smoothing and Filter Data Using Averaging ................................ 47 3.2.6 Location of Detectance ................................................................. 48 3.2.7 Design Criteria .............................................................................. 52
3.2.8 Ultrasonic Sensory System Circuitry ............................................ 52
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3.2.9 Block Diagram and Flowchart ...................................................... 53 3.3 Thermal Sensory System ........................................................................ 55
3.3.1 MEMS Thermopile Sensor D6T-8L-06 ........................................ 55 3.3.2 Field of View (FOV) ..................................................................... 56 3.3.3 Changes in Temperature ............................................................... 59 3.3.4 Design of Sensor Arrangement ..................................................... 68 3.3.5 Algorithm Development ............................................................... 70
3.3.6 Determination of Angles and Direction ........................................ 72 3.3.7 Multiplexer Circuit ........................................................................ 75 3.3.8 Block Diagram and Flowchart ...................................................... 77
3.4 The Design of Swinging Mechanism ..................................................... 79 3.5 Chapter Summary ................................................................................... 83
CHAPTER FOUR: RESULT AND DISCUSSION ............................................ 84 4.1 Introduction............................................................................................. 84
4.2 Ultrasonic Sensory System ..................................................................... 84 4.2.1 Estimating Sensor Response and Data Stability ........................... 85 4.2.2 Advantages and disadvantages of cosine rule formulation ........... 94
4.3 Thermal Sensory System ........................................................................ 96
4.3.1 Single Human Detection (Following Mode) ................................. 96 4.3.2 Multiple Human Detection (Ranging Mode) ................................ 98
4.4 Performance Comparison of Ultrasonic and Thermal Sensory
System .................................................................................................... 100 4.5 Chapter Summary ................................................................................... 101
CHAPTER FIVE: RECOMMENDATION AND CONCLUSION ................... 102 5.1 Conclusion .............................................................................................. 102 5.2 Recommendation and Direction of Future Research ............................. 103
APPENDIX B: Temperature Distribution of Human Body .............................. 111 APPENDIX C: Sensor Datasheets ........................................................................ 113
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LIST OF TABLES
Page No.
Table 2.1 A review of human body temperatre 13
Table 2.2 Sensing stages 15
Table 2.3 Comparison table of Ultrasonic sensors 23
Table 2.4 Comparison table of Thermal sensor 30
Table 2.5 Patented product related to fan and/or swing appliances 31
Table 3.1 Beam angle for varying distance, D 42
Table 3.2 Position formularize to find distance D from US sensor 51
Table 3.3 Theoretical FOV ranging for one D6T-8L-06 58
Table 3.4 Changes in reading before and after the cat entering the FOV area 63
Table 3.5 Changes in body parts for front, side and back 66
Table 3.6 Spur Gear design parameters 80
Table 4.1 Expected Output response 86
Table 4.2 Result of percentage response for actual distance, 𝐷’ 89
Table 4.3 Result of response actual distance, 𝐷’ after reducing Interference 92
Table 4.4 The output of object location for US sensor 93
Table 4.5 Servo swinging range 94
Table 4.6 Performance comparison between Ultrasonic and Thermal sensor 100
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LIST OF FIGURES
Page No.
Figure 1.1 Flowchart of research methodology 4
Figure 2.1 Fan motor in condition of knob is pressed down 9
Figure 2.2 Usage of fan in indoor 10
Figure 2.3 Remote controls for air-conditioners 11
Figure 2.4 Variations of human body temperature. 12
Figure 2.5 PIR sensor exploded view 16
Figure 2.6 Beam pattern of Ultrasonic sensor 18
Figure 2.7 Beam pattern of Ultrasonic sensor 19
Figure 2.8 Setup measurement for Passive methods 20
Figure 2.9 Test set-up using mannequin in front of the robotics lamp 21