Slip reduction algorithm for electric powered wheelchairs
As a research programmer intern at the Human Engineering Research Laboratories, University of Pittsburgh, I used C++ to simulate a low level control algorithm to reduce slip in electric powered wheelchairs. The slip eduction algorithm was based on a reference model developed by Dr. Chuy. The key idea was to indirectly reduce torque applied to the wheels by reducing desired acceleration when slip occurs. Using Matlab, I wrote a program to measure wheel encoders, and validated the measurements from the wheel encoders using Vicon cameras.
This project was funded by the Quality of Life Technology Center NSF ERC, and by IGERT, and was conducted under the leadership of Jorge Candiotti, mentor, and Dr.'s Wang, Chuy, and Cooper. The project paper was awarded the “ASPIRE REU Best Paper,” and was additionally accepted for the 2013 SACNAS National Conference.