| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === Multiple Master Multiple Slave (M3S) system is an intelligent environment for disabled people. This system provides a complete communication platform for various assistive devices. Thus, it can offer the multiple-to-multiple control environment for devices, not one-to-one environment in the past. In addition, for the control purpose, different assistive devices, such as joysticks, keypads and head-control modules, can be utilized among different users.
To improve the control mechanism security, we implement two parts of safety modules in the system: one is the CCM (Control & Configuration Module) and the other is the safety circuitry. The CCM has two functions: task management and safety monitor. For specific users, the CCM can present the optimal determination for the system and different control environments via this real-time monitor mode. The safety circuitry contains two individual lines (KEY line and DMS, Dead Man Switch, line) and they can be used to assure the system status when users operate these devices.
Moreover, we develop our own software, the NTUEE LAB302. Not only can it monitor the CAN (Controller Area Network) frames on the CAN bus, but also users can understand the devices status and the immediate information. On the other hand, to solve the distance problem, we have used a wireless module to transmit CAN frames. Now it can be utilized in the wheelchair by the remote system, and of course, it can help users to manipulate the wheelchair more easily and smoothly in difficult situations.
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