TELKOM
NIKA Indonesia
n
Journal of
Electrical En
gineering
Vol. 12, No. 8, August 201
4, pp. 6083 ~ 6087
DOI: 10.115
9
1
/telkomni
ka.
v
12i8.572
5
6083
Re
cei
v
ed Fe
brua
ry 1, 201
4; Revi
se
d March 14, 201
4
,
2014; Accep
t
ed March 29,
2014
Embedded System Application for Blind People
Navigation Tool
Wak
h
y
u
D
w
i
ono, Siska Nov
i
ta Posma, Arif Guna
w
a
n
Dep
a
rtment of T
e
lecommunic
a
tion En
gi
neer
i
ng, Politek
nik
Calte
x
Ri
au,
Jl Umba
nsari 1
,
Rumbai, Pek
anb
aru 2
826
5 Indo
nesi
a
, Ph/F
ax +
6
276
1-5
3
9
39/55
42
24
Corresp
on
din
g
author, e-mai
l
:
w
a
k
h
yu
@pcr.
a
c.id, siska@
p
cr.ac.id, agun
@pcr.ac.id
A
b
st
r
a
ct
T
he stick for bli
n
d
m
a
n
nav
igati
ona
l ai
d can o
n
l
y pr
ovi
de i
n
for
m
ati
on a
b
o
u
t the pres
enc
e of objects
that be
ing
touc
hed. T
h
is
n
a
vi
gatio
nal
ai
d sti
ck can
not pr
o
v
ide
more
infor
m
ati
on s
u
ch
a
s
obj
ect dista
n
ce
and th
e na
me
of the plac
e. T
o
overco
me thi
s
probl
e
m
, w
e
reali
z
e
d
a
na
vigati
ona
l tool
that can pr
ovid
e
infor
m
ati
on a
b
out the dista
n
c
e
of
objects ar
oun
d the user
and the
na
me
of the plac
es w
here b
e
in
g pas
sed.
T
he existi
ng o
b
jects ar
e dete
c
ted usi
ng thre
e sets of
ultra
sonic se
nsors.
T
hese sens
or
s emit ultraso
n
i
c
sign
als, w
hen
the si
gna
l co
lli
de th
e o
b
stacl
e
, then
w
ill
be
reflecte
d b
a
c
k
an
d b
e
i
ng r
e
ceiv
ed
by th
e
s
e
sensors
too. T
he ti
me l
ag
be
tw
een the
tran
smittin
g
and
re
ceivin
g s
i
gn
als
then
w
ill
be
c
onverte
d i
n
to t
h
e
distanc
e. RF
ID read
er is us
e
d
to rea
d
the
p
r
esenc
e
or a
b
s
ence
of tags a
r
oun
d
the RF
I
D
rea
der. Ide
n
t
ity
tag e
m
its a si
gna
l that w
ill
be us
ed to
mark the p
l
ace
na
me. The r
e
s
u
lts of
meas
ur
ing distanc
e
and
sequ
enc
e voic
e data
base rec
o
rder g
i
ves a g
ood yi
eld. Vo
ic
e data
base rec
o
rder circ
uit w
o
rks as w
e
ll as th
e
detectio
n
of RF
ID tags.
Ke
y
w
ords
: bli
n
d
m
a
n
navi
gati
on tool, e
m
b
e
d
ded syste
m
ap
plicati
o
n
Copy
right
©
2014 In
stitu
t
e o
f
Ad
van
ced
En
g
i
n
eerin
g and
Scien
ce. All
rig
h
t
s reser
ve
d
.
1. Introduc
tion
Navigatio
n to
ols
are requ
a
i
red
for
blind
pe
rson
s to
reco
gni
ze th
ei
r e
n
vironm
en
t whe
n
doing
daily
a
c
tivities, mai
n
ly wh
en ta
king a
walk.
By usin
g a
stick, bli
ndm
a
n
can
re
co
g
n
ize
obje
c
ts in th
e area th
at will be pa
sse
d
. This in
formation is received throu
g
h
the hand
s i
n
the
form of stick vibration
s
that touche
d to the obje
c
t.
With the
g
r
owing of te
ch
nol
ogy, blind
pe
rson
s
co
uld
h
a
ve to p
e
rfo
r
m shoppi
ng
a
c
tivities,
learni
ng in h
i
gher e
d
u
c
ati
on, traveling
to anot
her places an
d so on. By impleme
n
ting
a
microcontroll
er sy
stem th
at is eq
uippe
d with
a ult
r
a
s
oni
c
sen
s
o
r
, RFID
rea
der, and the voi
c
e
databa
se
ca
n be
reali
z
ed
a
navigation
tool fo
r
blin
d pe
rson
effectively an
d
easy to
o
perate,
becau
se the i
n
formatio
n is
provide
d
in the form
of voice informatio
n. These n
a
vigation sy
ste
m
s
requi
re
additi
onal fa
cilities su
ch a
s
tag
s
that was
pl
anted in
ce
rtain pla
c
e
s
, to give a u
n
i
que
identity of the place.
The u
s
e of RFID ha
s bee
n
done for m
o
bile rob
o
t tracking
system [
1
] but the RFI
D
tag is
an a
c
tive tags, for vehi
cle trackin
g
[2], for anti coli
ssi
on
system [3] and
for attenda
nce
manag
eme
n
t system [4].
Almost of the navigation
tools for bli
ndman that
have been
realized, are using
microcontroll
er to process data from
se
nso
r
s th
en
re
leased in the
form of voice inform
ation.
In
terms
of u
s
e
,
navigation
tools, the
r
e i
s
attac
hed
to the
shoe
[5, 6]. Senso
r
s, b
a
ttery a
n
d
pro
c
e
s
sor
pla
c
ed
on the f
r
ont and
ba
ck of the sh
oe
s. However, fo
r this type, re
quire
s
spe
c
ia
lly
desi
gne
d sh
o
e
s that goo
d look.
The
other wa
y is
com
b
inin
g conventio
n
a
l tool
s
with a
set
s
of
sen
s
ors a
nd
pro
c
e
s
sor in
a
stick [7]
whi
c
h is eq
uipp
ed
with
an
ele
c
troni
c
circuit.
With thi
s
m
o
de, a
blindm
a
n
will
be
fami
liar
with a si
mple navigation tools. Sensors
will give
measurement signal whi
c
h i
s
processed in
the
microcontroll
er sy
stem.
Then the inform
ation will
be taken out as a sou
nd like an alarm code
[8],
[6], remaining
foot step dist
ance [9] and the dista
n
ce to the obje
c
t [7].
The
RFID
re
ader ha
s al
so bee
n introd
uce
d
in [10],
and [5]. Th
e
use
of a voi
c
e d
a
ta
base to provide distan
ce i
n
formatio
n has also bee
n
carri
ed out a
t
[9] and [7].
In this paper
will
be explaine
d
a navigation t
ool for blind
person
s
that use
s
ultra so
nic
sen
s
ors, voice
data
b
a
s
e
and RFI
D
sy
stem.
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 8, August 2014: 608
3 –
6087
6084
2. Rese
arch
Metho
d
Navigatio
n to
ol for blin
d
person
s
whi
c
h have reali
z
ed is
a sti
c
k with thre
e
pairs of
ultrasonic
s
e
ns
ors us
ed t
o
detec
t the
s
a
fe
dis
t
ance
to the left, right and front. This
tool is
als
o
equip
ped wit
h
a RFID rea
der to re
ad th
e RFID tag p
r
ese
n
ce.
2.1. Voice Datab
ase
The voice d
a
ta ba
se i
s
reali
z
ed
by reco
rdin
g the
voice i
n
formation into t
he
chi
p
ISD2512
0. Reco
rde
d
data
and the ad
dr
ess data is
sh
own in Ta
ble
1.
Table 1. Voice Information
and their Ad
d
r
ess
No Voice
Address
1 Satu
0000
0000
2 Dua
0000
1000
3 Setengah
0001
0000
4 Meter
0001
1000
5 Kiri
0010
0000
6 Kanan
0010
1000
7 Depan
0011
0000
8
Anda di
0011 1000
9
Jl Sudirman
0100 1000
10
Jl Juanda
0110 1000
11 Masjid
0111
1000
12 Pasar
1000
0000
13 Toilet
1000
1000
14
Jl Paus
1001 0000
15
Perempatan P
C
R
1010 0000
16
Jl Sekolah
1011 1000
2.2. RFID Ta
g
The RFID tag
s
that are u
s
e
d
in this
re
se
arch
have
a d
a
ta format th
at can
be rea
d
by the
ID-12. ID n
u
m
ber of 8 pie
c
e
s
ca
rd a
r
e
sho
w
n in Ta
b
l
e 2.
Table 2. The
Used Tag
s
ID Numbe
r
No
ID Lokasi
No ID
1 Jl
Sudirman
540062B8EB65
2 Jl
Juanda
540062917
0D7
3 Masjid
540062895
DE2
4 Pasar
540062EC4
C96
5 Toilet
5400629E11B9
6 Jl
Paus
540062D6
D
A3A
7 Perempatan
P
C
R
5400628D
FB40
8 Jl
Sekolah
540062923
490
2.3. Sy
stem
Flo
w
c
h
ar
t
Figure 1. System Flowcha
r
t
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Em
bedded System
Application for Blind
P
eople Na
vi
gation Tool
(Wa
k
h
y
u Dwio
no)
6085
System flow diagram i
s
sho
w
n in Fig
u
re
1. The
main pro
g
ra
m of the system is a
c
ontinuous
proc
ess
that s
t
arts
from a
safe di
s
t
ance
measurement
s
to the left,
front and right
side,
and
the
n
dete
c
t the
pre
s
en
ce
of
RFID tag
s
foll
owe
d
by so
u
nding
a safe
distan
ce
indi
cator
on ea
ch si
de.
Then the pro
g
ram b
a
ck to a safe di
stan
ce mea
s
u
r
em
ents ag
ain.
Whe
n
an inte
rru
pt occu
rs, i
e
whe
n
the voice
b
u
tton is pre
s
sed, the
prog
ram
swit
che
s
to
read
safe
dist
ance data fo
r each si
de, re
ad the d
a
ta from the RFID
tag ID, then b
a
se
d on the
s
e
the voice i
n
fo
rmation i
s
g
e
nerate
d
from
voice d
a
tabas
e
, interruption is
e
ndd
ed
whe
n
the voi
c
e
informatio
n is played com
p
letely then micro
c
o
n
tr
oll
e
r
contin
ue to proce
s
s the ma
in prog
ram.
2.4. Implementa
tion
The sy
stems
hard
w
a
r
e that
have been re
aliz
e
d
ha
s the followin
g
sp
ecification
s
:
1. Usin
g the AVR microco
n
trolle
r ATMe
ga8.
2. Usin
g thre
e pairs of ultraso
n
ic
sen
s
o
r
s (paralax pi
ng se
nsor)
3. ISD 25120
for voice data
base
4. ID-12
RFID reader
5. Two 3.6 vo
lt Lithium Batterie
s 200
0m
Ah
6. Buzzer a
s
an indi
cator o
f
a safe or not
safe dista
n
ce
3. Results a
nd Analy
s
is
This
s
y
s
t
em is
tes
t
ed by giving s
o
me obs
tac
l
es
on the left, front and right s
i
de
of tool,
then the te
st
results
are
re
corded
ba
sed
on the
so
und
comi
ng o
u
t o
f
the loud
spe
a
ke
r. Prototy
p
e
of navigation
a
l aids i
s
sh
o
w
n in Figu
re
2.
Safe distan
ce
measure
m
en
t data of the navig
ation to
ol sho
w
n in T
able 3 (mea
surem
ent
error
can b
e
see
n
in Figu
re 4). From thi
s
table,
it ca
n
be se
en that
the instrume
nt can m
e
a
s
u
r
e
safe di
stan
ce
reliably in accordan
ce
with a prog
ram t
h
at has be
en
entered into
the system. T
h
e
prog
ram
wo
rks on the cl
assification of ra
nge a
s
bein
g
sho
w
n in Fig
u
re 3.
Figure 2. Photograp
h of Na
vigat
ion Tool
for Blind Person
Table 3. Safe
Distan
ce Te
sting
No
Object Distance (cm)
Output So
und
Left Side
Front
Right Side
Left Side
Front
Right Side
1
30
30
30
An half meter
An
half meter
An half meter
2
60
60
60
An half Meter
An
half meter
An half meter
3
90
90
90
An half meter
An
half meter
An half meter
4
120
120
120
One mete
r
Satu Meter
Satu Meter
5
150
150
150
One mete
r
Satu Meter
Satu Meter
6
180
180
180
One half mete
r
One half met
e
r
One half mete
r
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 8, August 2014: 608
3 –
6087
6086
Figure 3. Ran
ge Cla
s
sificat
i
on and Voi
c
e
Information
Figure 4. Measu
r
em
ent Error
Based
on Fi
gure
3, the
voice info
rm
ation is
not
accurate, wh
en the di
sta
n
ce val
u
e
betwe
en 0 to 1 meter is inf
o
rme
d
that the distan
ce
i
s
a half meter. Dista
n
ce of 1 to 1.5 meters
i
s
informe
d
by sou
nd “o
ne
meter”. Di
sta
n
ce of 1.5 m
e
ters to 2 m
e
ters i
s
informed as o
ne
and a
half mete
rs.
Dista
n
ce of 2
to 2.5 mete
rs info
rmed
a
s
two mete
rs.
This ha
s b
e
en
con
s
ide
r
e
d
in
the de
sign
proce
s
s. Becau
s
e the
pu
rpo
s
e of the vo
i
c
e
informatio
n for blin
d p
eopl
e is to ill
ustra
t
e
a safe di
stan
ce, ie, it is not safe wh
en
the distan
ce
is less than
1 meter, be
cau
s
e the
r
e i
s
possibility to
hit the o
b
je
ct. Voice info
rm
ation a
bout
o
ne m
e
ter to
t
w
o
meters
ha
ve mean
that
the
distance i
s
st
ill safe to move. The more accura
te voice information can be achieved by more
rang
e cla
s
ification but nee
d more time
s
to hear the vo
ice informatio
n.
Erro
rs were
o
c
curred
be
ca
use
the p
r
e
d
e
t
ermi
ne
d di
st
ance
cla
ssification that b
e
i
ng u
s
e
d
fo
r
pr
o
g
r
a
m re
fe
r
e
nc
e
,
as
s
h
ow
n in
F
i
gu
r
e
4
.
Th
is c
l
a
s
s
i
fic
a
tion
d
i
s
t
a
n
c
e
w
a
s
ch
o
s
e
n
in
or
der
to
save the voi
c
e re
co
rde
r
m
e
mory. Fo
r in
formati
on i
n
the form
of a
beep
so
und,
if no bee
p, that
mean
s safe, 2 times beep
has me
an rel
a
tively safe, if 3 times beep
, it means to be ca
reful wh
ile
contin
uou
sly beep
s mea
n
s the risk of hitting the obje
c
ts
This
navigati
on tool i
s
very sim
p
le,
do not u
s
e
compl
e
x devi
c
e
s
[5], and
easy to
impleme
n
t, also ha
s two al
ternatives i
n
formatio
n, na
mely the indi
cator
bee
p so
und an
d voice of
distan
ce info
rmation that can be cho
s
e
n
by pres
sin
g
the button. On the othe
r hand thi
s
tool
is
familiar to use, easy to operate by blind
person
s
. In
contra
st to [9]
whi
c
h provide
s
an inform
ation
about the
re
st of step
s to
ward the
obj
ects,
blind
pe
rso
n
h
a
s to
think to
count
the foot
step
s to
get to the object. Whil
e the tool in [7] only pr
ovide distan
ce in
formation. In
addition to the
distan
ce i
n
formation o
r
wa
rning
indi
cato
r, this i
n
strum
ent is
also e
q
u
ippe
d with
a
n
RFI
D
read
e
r
that can
provi
de informatio
n about
the
place that bei
ng pa
ssed by
t
he user. In testing, the
RFID
read
er
can re
ad RFI
D
tags in a distan
ce
of 8cm.
0
50
100
15
0
20
0
-4
0
-2
0
0
20
40
M
e
a
s
ur
em
e
n
t
E
r
ro
r
O
b
j
e
ct
D
i
s
t
a
n
ce
(
c
m
)
E
rro
r
(c
m
)
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Em
bedded System
Application for Blind
P
eople Na
vi
gation Tool
(Wa
k
h
y
u Dwio
no)
6087
Table 4. Voltage an
d Cu
rrent Testing
Data
Condition
Voltage (volt)
Curre
nt (mA)
Running onl
y
w
i
t
h
sound indicator
4,7
100
Running
w
i
th voice information
4,6
150
Table 4 i
s
a measurement
data of voltage and
cu
rre
nt for activate
navigation to
ol. When
the outp
u
t sy
stem i
s
o
n
ly
indicator
bee
p soun
d,
the
circuit sy
ste
m
draws ele
c
tri
c
al cu
rre
n
t
of
100mA (o
r 0
.
47 WH). Me
anwhile, wh
e
n
the voice
button is p
r
e
s
sed (an int
e
rrupt occu
rs)
,
system
s circu
i
t
dra
w
s cu
rre
n
t
of
150
mA (or 0.69
WH). Becau
s
e
t
he
batterie
s
that
being
used i
s
2x3.6volt x 2
000 mA
H
(o
r
14.4
WH),
th
e navig
ation t
ool
can
be
u
s
ed for 20
to
3
0
ho
urs, ba
sed
on the co
nditi
ons a
s
sho
w
n
in Table 4.
4. Conclusio
n
In con
c
lu
sio
n
,
the obje
c
tive to build a
n
a
vi
gation tool
for blind
person
wa
s
su
cce
ssfully
achi
eved. Thi
s
syste
m
wo
rks.
As a co
ncl
u
sion, the obj
ective to buil
d
a navigati
o
tool for bli
nd peo
ple h
a
s be
en
achi
eved wel
l
, which is a
tool can to provide vo
i
c
e
information i
n
accordan
ce with the re
al
con
d
ition
s
, though
still in
rough
app
roa
c
h, but thi
s
to
ol ca
n be
use
d
to help
blin
d peo
ple in th
eir
activities. Th
is tool
can
be develo
p
e
d
for t
he b
e
tter accu
ra
cy by addin
g
more di
stan
ce
cla
ssifi
cation
databa
se a
n
d
detailed voice informat
io
n. However, th
e pro
c
e
s
s ne
ed a long
er ti
me
for voice info
rmation playb
a
ck.
Ackn
o
w
l
e
dg
ements
The auth
o
rs
woul
d like to
take thi
s
o
pportu
nity to thank P
o
litekni
k Caltex Riau fo
r
sup
portin
g
thi
s
re
se
arch
an
d Direkto
r
at
Jende
ral Pen
d
i
dika
n Ting
gi
Kementria
n
P
endidi
kan
dan
Kebudaya
an
Indone
sia for
funding thi
s
p
r
oje
c
t in hiba
h bersain
g 20
13 schem
e.
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