D4.1 Report with design documents, detail specifications and bill of materials for control system

In this report, the detailed specifications of the RampCo control system are presented. As a first step of defining the detailed system specifications, a flowchart was prepared for the complete RampCo operation. This allowed clarifying all control and safety requirements, which could then be translated into detailed technical specifications. The flowchart is divided in two parts: "Ascending the stairs" and "Descending the stairs". After having defined the system operation, detailed specifications have been prepared for all major components of the control system. A block diagram is also available were all control system main modules are presented. Various options were examined for all system components, taking into consideration also size and weight, which are both critical parameters in the RampCo design. Pricing is also an important parameter which could obviously not be ignored during the preparation of the specifications. The control system specifications cover the following components: Controller, Tilt sensor (Inclinometer), Obstacle detection sensors, Alignment sensors, Remote control transceiver, Ultrasonic range finder, Buttons and LEDs, Overload sensor, Limit switches, Remote Control Unit. The control system is also responsible for communicating with the motors, through the motors' drivers. Detailed specifications for the motors and their drivers are presented in D2.1. Nevertheless, some key information is presented here as well, for completeness. In the last section of this report, requirements are also presented for the Wireless communication tool and the RampCo mobile application. Even though these tools are not an integral part of the control system, they directly interact with it and affect the way that the software should be developed. The RampCo controller will be able to communicate both with the installer (building operator) and the wheelchair user that wishes to use RampCo. For this purpose, two different applications will be developed: one for the installer and one for the final end-users. The installer application will be used to monitor the RampCo status and receive notifications whenever a problem appears in a RampCo device owned by the installer. It will also be used by the installer in order to setup the RampCo initially. The interface between the RampCo device and the installer application is an internet database, hosted in the RampCo website. The second application will be developed for the RampCo final end-users. This application will: a) provide the users with operational instructions, b) allow the user to ask for a RampCo in its current position inside a building, c) allow the user to visually identify all the buildings that have a RampCo, the location and status of those RampCos (operational or not), as well as the locations where a RampCo can be moved and d) inform the user about a nearby RampCo. The specifications here presented will be used to design the complete control system. It is expected that minor changes may be required after developing the system software and after testing the first operational prototype. All components selected as well as the controller itself have been chosen taking into consideration also the fact that quick changes will be required during the validation phase both in the system hardware and software