It consisting Mobile app, Arduino, Bluetooth Receiver module, L293D ic etc. The movement of robot is controlled by the voice which catch by the microphone inside the mobile.

1. i
GUJARAT TECHNOLOGICAL UNIVERSITY
Chandkheda, Ahmedabad
VISHWAKARMA GOVERNMENT ENGINEERING COLLEGE
(Affiliated with GTU)
A Project Report on
“VOICE CONTROL WHELLCHAIR”
Under the subject name of
Project-II (2181108)
B. E. 4rd
year, Semester –VIII
(Electronics and Communication Branch)
Submitted by:
Name of Students: Enrolment No.
PINAL PATEL (150173111026)
KHUSHBU RAJPUT (150173111029)
JAYESH RATHOD (150173111031)
MAHESH VAINSH (150173111038)
(Project Guide)
Prof. Alpesh H. Dafda
Head of the Department
Dr. Rajesh A. Thakkar
Academic year
(2017-2018)

2. ii
CERTIFICATE
Vishwakarma Government Engineering College,
Chandkheda, Ahmedabad
Electronics and Communication Department
This is to certify that the project report on “VOICE CONTROL WHEELCHAIR” is prepared and
submitted by Pinal Patel (150173111026), Khushbu Rajput (150173111029), Jayesh Rathod
(150173111031) and Mahesh Vainsh (150173111038) under my guidance in fulfilment of the degree
of bachelor of engineering in Electronics & Communication in 7th
semester of Gujarat Technological
University Ahmedabad during the academic year 2017-2018.
Faculty Guide Head of department
Prof. Alpesh H. Dafda Dr. Rajesh A. Thakkar

3. iii
ACKNOWLEDGEMENT
We would like to begin by thanking my faculty guide Prof. Alpesh H. Dafda for his supervision and
advice throughout this project. Without his help this project would not have been possible. Sincerely
thanks to Head of department Dr. Rajesh A. Thakkar and Principal of Vishwakarma Government
Engineering College was provides us needful environment to being think and encouraged us for new
ideas for design engineering. We would also like thank other faculty member to stay supportive with us
throughout the year. Finally we like to thank our friends and seniors for their support throughout the
year. And at last we were thankful to our parents for their financial support and encouragement
throughout the year, without them we would not able to accomplish this project.
By:
Pinal Patel (150173111026)
Rajput Khushbu (150173111029)
Jayesh Rathod (150173111031)
Mahesh Vainsh (150173111038)

4. iv
ABSTRACT
This project is related to controlling a wheel chair by means of human voice. The objective of this project
is to facilitate the movement of people who are disabled or handicapped. Speech recognition technology
is used to move the wheel chair. The result of this project is show that this can be used for future research
work and public interest.
Key words:
Voice recognition, Disabled, Battery powered wheelchair, Mechatronics engineering, Interface,
Assistive technology, Mobility aids, Power wheelchair, Motorized wheelchair.

5. v
CONTENTS
CHAPTER 1 INTRODUCTION 1
1.1 Introduction 1
1.2 Summary 1
1.3 Aim and Objective of Project 2
1.4 Problem Specification 2
1.5 Literature 3
CHAPTER 2 IMPLEMENTATION OF METHODOLOGY 5
2.1 Design Methodology 5
2.2 Block Diagram Representation 6
2.3 Circuit Diagram 7
CHAPTER 3 HARDWARE DESCRIPTION 9
3.1 Microphone 9
3.2 Voice Recognition Module 10
3.3 Arduino (ATMega 328) 11
3.4 Battery 12
3.5 L293D IC 12
3.6 Bluetooth Module 13
3.7 DC Motor 14
3.8 Power Supply 15
CHAPTER 4 PROGRAM CODE 18
4.1 Program 18
CHAPTER 5 ADVANTAGES AND DISADVANTAGES 21
5.1 Advantages 21
5.2 Disadvantages 21
CHAPTER 6 APPLICATION AND FUTURE SCOPE 22
6.1 Application 22
6.2 Future Scope 22
CHAPTER 7 REFERENCES 23
7.1 References 23

6. vi
CHAPTER-1 INTRODUCTION
1.1 INTRODUCTION
This project aims to design integrate program to interface and test a fully motorized, voice-operated
wheelchair. A regular standard wheelchair was used as main that has been on modified to meet this
project’s goals. In this project, the procedure of Mechatronic systems design was followed to assure the
quality of the final product i.e. the MotoChair.
The project has consisted of the following parts: Hardware, software, interface and testing.
This project is related to controlling a wheel chair by means of human voice. The objective of this
project is to facilitate the movement of people who are disabled or handicapped. Speech recognition
technology is used to move the wheel chair. The result of this project is show that this can be used for
future research work and public interest.
The main objective is to design a system which provides solution for the physically handicapped
(challenged) people those who can’t move by themselves, using speech commands by interfacing the
Speech Recognition with microcontroller and wheel chair. The voice commands are given to the
Bluetooth module HC 05 kit with the help of mic and the wheel chair moves according to the given
directions.
The movement of the wheelchair is controlled by the motors and motor drivers connected to the wheels
of the chair. The interfacing between speech recognition kit and motors is done by microcontroller. Here
in this project the microcontroller used is AT89S52. This concept was taken in this paper to reduce the
human efforts in driving a wheelchair.
1.2 SUMMARY
This project can be summarized as a system that is used for handicapped person can able to move around
using voice of that person.
To design and develop an android app through which we can operate a movement of wheel chair Using
android device.

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1.3 AIM AND OBJECTIVES
Aim:
The main aim of the project is a persons who suffering from physically handicapped and he or she cannot
not be able to do his ordinary work. Therefor providing a solution to these guys with very efficient
designed and using voice.
The aim of this project is to design a wheelchair that has features such as low weight, low cost, long
distance travelling capacity.
Objective:
 To achieve long distance travel.
 Forming of a light-weight wheel-chair structure which would carry up to 90 kg
 Coding of a specific program, which would run the device by using a voice (controlled
using Arduino)
 Making the total prototype as cost-effective and less expensive as possible
1.4 PROBLEM SPECIFICATIONS
In worldwide context, it is estimated that 100-130 million people with disabilities are present which
require wheelchairs for their assistance. Reasons for the physical disability can be 1) Inherited or genetic
disorder such as dystrophy 2) Condition present at birth such as spinal bifida 3) Spinal cord or brain
injury during accidents. Experts predict that the number of people who will need wheelchairs will be
increased by 22% over the next ten years.
Wheel-chair is still the best transportation means for them. This is the reason why wheelchairs are being
developed with additional latest advancements which leads its conversion to electric wheelchair.
Presently available manual wheelchairs require constant assistance of others for people having severe
disability and are at a high risk of injuries to the upper part of the body due to mechanical inefficiency
of the wheelchair. Also the manual wheelchairs have difficulty while going up the slope or uneven
surface. The available electric wheelchairs and our wheelchair are voice operated and also manually.

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1.5 LITERATURE
Paper No:-1
“Wheelchair for Physically and Mentally Disabled Persons”, Nirmal T M, International Journal of
Electrical and Electronics Research, ISSN 2348-6988 (online), Vol. 2, Issue 2, pp: (112-118), April -
June 2014 [1]
This paper specifies about the development of wheelchair that can be controlled by voice, eye or using
joystick according to the severity of disability of handicap person. It also features an alert system which
analyses the patient physical condition such as heart rate, temperature, etc and informs the doctor about
the same. It also has integrated robotic hand which facilitates the patient for taking medicines and food.
This research paper focuses on the problems of the handicap person and tries to solve them in best
possible way. The limitation is that it has to be developed separately for each individual specified to its
severity which increases its cost and time.
Paper No:-2
“Solar Powered Wheel Chair: Mobility For Physically Challenged”, Arun Manohar Gurram, P.S.V
Ramana Rao, Raghuveer Dontikurti, International Journal of Current Engineering and Technology,
ISSN 2277 - 4106 Vol.2, No.1, pp: (211-214), March 2012 [2]
This paper focuses on the development of solar based wheelchair which helps in reducing the running
cost of the wheelchair. It is specially designed for hemi-pelagic users to control the wheelchair
efficiently. The control of the wheelchair can be transferred to either side to facilitate the user. The
wheelchair has considerable advantages but still limits from the factor that it has longer battery charging
time and less ability to climb up the slope.

9. ix
Paper No:-3
“Design and Implementation of an Electric Wheel-Chair to Economise it with Respect to Bangladesh”
by Humaira Salmin, Hafiz Rakibul, Pratik Kumar Kundu, B.M. Fahmid Jahur Shuvo, K.B.M.
Nasiruzzaman and Rahman MD Moshiour, International Journal Of Multidisciplinary Sciences And
Engineering, Vol. 5, No. 2, pp: (17-22), February 2014 [3]
This paper specifies about the high costing of the electric wheelchair and modifying the present electric
wheelchairs to make it affordable to the common people. It put emphasis on the utilization of resources
available locally to reduce the cost of wheelchair. It uses set of dc gear motor, PIC microcontroller and
h bridge module for controlling the movement of wheelchair. The limitation of this research is that cost
of the wheelchair is still high for the poor people to afford it.

10. x
CHAPTER-2 DESING METHODOLOGY AND BLOCK DIAGRAM
2.1 DESIGN METHODOLOGY
Planning of the project can be describe below using methodology diagram.
Figure 2.1.1 Design Methodology
Literature Survey
Preparation of block diagram
Choice of Components
Simulation of Circuit in Software
Programming
Simulation
Preparation of Prototype
Testing
Troubleshooting

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Observation must be done in any type of project related work so we first focused on survey of different
papers, books and other projects.
The second step is to prepare the block and the circuit diagram. The necessary programming is done to
control the circuit.
Next step is to decide the components required and to develop the model in the software. The design is
checked on the software and necessary changes are made to improve the design.
The collection of the components is done. The connection procedure is done through the process of
soldering and the prototype is developed. The prototype is checked for the errors and necessary
troubleshooting is carried out in case of errors.
The final prototype is reviewed from the project guide and future work is to be carried out on the basis
of the reviews and final prototype is carried out.
2.2 BLOCK DIAGRAM REPRESETATION
In this block diagram we use cell phone as a voice recognition to converts acoustic sound to the electric
signal. Here we use an application as a voice recognition and also this converts in the form of appropriate
bit stream which could later transmitted by the antenna has mounted in the cell phone.
Figure 2.2.1 Block Diagram Representation

12. xii
This bit stream is transmitted via Bluetooth and received by the receiver Bluetooth module in serial
channel with range of frequency band from 2.4 to 2.485 GHz.
Arduino is well programmed and it have a preloaded data on it. This data will useful to match the
incoming digital bits and produce an appropriate output this will apply to the L293D IC.
L293D is a 16 pin motor driver IC to drive DC motor with high current rate. This IC can control two
DC motor simultaneously in any direction. According to input data IC will rotate the DC motor in
clockwise or anticlockwise direction (like Right, left, forward, reverse and stop).
Power supply unit give +5 volt DC supply applied to Bluetooth receiver module, microcontroller and
L293D IC
2.3 CIRCUIT DIAGRAM
Voice signals are given with the help of android app. Voice is recognised with the help of android base
voice application. Bluetooth HC-05 is used for serial transmission. Microcontroller is used to interface
between motors and voice recognition system. Battery is used to supply current to the motor.
Figure 2.3.1 Circuit Diagram
When the voice is recognised, the wheelchair will move in that direction by giving commands to the
wheelchair. This commands are transferred to the wheelchair using electrical signal which are used the
drive left and right motor of the wheelchair.

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There are basically two motors connected to the left and right wheels of the wheelchair. The electrical
signals are transferred to those motors using some hardware ports, called communication port
The voice commands which is used to move the wheelchair are like left, right, forward and reverse etc.
Two wheels are used in the wheelchair for proper balancing. The movement of the wheels is controlled
by DC motors which are attached to the wheelchair.
 The wheelchair directions and movement possible are given as follow.
1. Forward: Both motors are in forward direction.
2. Reverse: Both are in reverse direction.
3. Stop: Both Motors are stopped.
4. Right & Left

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CHAPTER-3 HARDWARE DESCRIPTION
3.1 MICROPHONE
A microphone nicknamed microphone or mike is a transducer that converts a sound signal into an
electrical signal with a single frequency.
Microphones are used in many applications such as telephone, hearing aids, concert halls and public
events, motion picture production, live and recorded audio engineering, sound recording, two-way radio,
megaphone, radio Computers for non-acoustic purposes such as voice, speech recognition, VoIP, and
ultrasonic sensors or knock sensors.
Figure 3.1.1 Microphone
Some different types of microphones are in use, which use different methods to alter the volume of
sound wave noise in the electrical signal. The most common dynamic microphone, which uses
suspended wire coils in the magnetic field; Condenser microphone, which uses diagonal diaphragm as
capacitor plate, and piezoelectric microphone which uses crystals.

15. xv
3.2 VOICE RECOGNITION MODULE
Voice recognition is a technology that simplifies natural and convenient human-machine interfaces
using the voice recognition module. It analyses human delivery washing facilities on a machine or
computer via a microphone.
Figure 3.2.1 Voice Recognition Circuit
Voice recognition technology is classified based on a variety of criteria, such as the scope of users, the
number of words used for recognition, the quality of the speech.
If the voice recognition level is more than 95%, then only voice recognition is practically used.
Working principle:
HM 2007 is a chip CMOS voice recognition module. It has on-chip analogue front and large-scale
integrated circuits with voice analysis, speech recognition and voice recognition system control
processes. HM2007 can be operated in two modes: Manual mode and CPU control mode.
In the manual mode of operation, the voice recognition module HM2007 is used to create simple
identification system by combining elements such as keypad, SRAM and other components of 8 Kbit
memories.
If the power is on, the HM2007 starts the initial process and, if the WAIT pin is L, then the HM 20077
checks external memory: 8 Kbit SRAM - whether it is perfect or not. But, if WAIT is H, then the memory
check process will be ignored by HM2007.

16. xvi
Figure 3.2.2 HM2007 Pin Diagram
After the initialization process, the HM2007 moves to validation mode. In the validation mode, if the
WAIT pin is H, then the HM2007 is ready to accept the voice and the validation process begins. If the
WAIT pin is L, then the HM2007 is not acceptable to the sound which can be identified. After clearing
the trained method, two procedures are done using the new pattern training function key: TRN and CLR.
In HM 2007 all the pattern numbers can be cleared by entering 99 and pressing CLR.
3.3 ARDUINO (ATMEGA 328)
Arduino is board which has ATmega328P microcontroller built on it. It has 16 MHz crystal, 6 analogue
input and output pins, 14 digital input output pins and out of which 14 digital pins 6 pins can be used as
PWM pins that are quite helpful in motor control applications.
It contains a USB connector which can be used to connect Arduino to the pc for uploading the code.
While Arduino is connected to PC it can draw necessary power from the PC required for its operation.
It has an adaptor jack which can be used to power the Arduino in offline mode. It has also Vin pin to
accept the 9V supply essential for its working. It has two to three 5V and ground pins which can be used
to power up the small power consuming devices directly from the Arduino.

17. xvii
Figure 3.3.1 Arduino (ATMega 328)
3.4 BATTERY
The main power supply for the wheelchair is provided by 12VDC (4.5Ah) rechargeable lead-acid
batteries. The wheelchair will also contain a solar panel as a secondary source of power supply. When
the wheelchair is operated in the driving mode, the power is provided by the solar panel mainly and
remaining power can be provided by the battery, with the power available from the solar panel will be
decided by the intensity of sunlight at that time. When it is not in operation, the solar power charges the
battery for later use.
3.5 L293D IC
L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on either direction.
L293D is a 16-pin IC which can control a set of two DC motors simultaneously in any direction
It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be flown in either
direction. As you know voltage need to change its direction for being able to rotate the motor in
clockwise or anticlockwise direction, hence H-bridge IC are ideal for driving a DC motor.
In a single L293D chip there are two h-Bridge circuit inside the IC which can rotate two dc motor
independently. Due its size it is very much used in robotic application for controlling DC motors. Given
below is the pin diagram of a L293D motor controller.

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The pin diagram of the L293D IC is shown in below figure.
Figure 3.5.1 L293D
There are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1 and 9
need to be high. For driving the motor with left H-bridge you need to enable pin 1 to high. And for
right H-Bridge you need to make the pin 9 to high. If anyone of the either pin1 or pin9 goes low then
the motor in the corresponding section will suspend working. It’s like a switch.
3.6 BLUETOOTH MODULE (HC-05)
Bluetooth is a wireless technology standard for exchanging data over short distances (using short
wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz) from fixed and mobile devices,
and building personal area networks (PANs).
Figure 3.6.1 Bluetooth module HC-05

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Bluetooth operates at frequencies between 2402 and 2480 MHz, or 2400 and 2483.5 MHz
including guard bands 2 MHz wide at the bottom end and 3.5 MHz wide at the top. This is in the globally
unlicensed (but not unregulated) Industrial, Scientific and Medical (ISM) 2.4 GHz short-range radio
frequency band. Bluetooth uses a radio technology called frequency-hopping spread spectrum.
Bluetooth divides transmitted data into packets, and transmits each packet on one of 79 designated
Bluetooth channels. Each channel has a bandwidth of 1MHz. It usually performs 800 hops per second,
with Adaptive Frequency-Hopping (AFH) enabled. Bluetooth low energy uses 2 MHz spacing, which
accommodates 40 channels.
3.7 DC MOTORS
Motors are arguably one of the most important parts of a mobile robotics platform. Overpowered motors
cause inefficiency and waste the already limited supply of power from the onboard batteries, while
undersized motors could be short on torque at critical times.
The optimal rotation speed and the available speed range of the motor must also be taken into
consideration. To high of an output rpm from the motor shaft will cause the robot to operate at a fast,
uncontrollable speed. Too low of an output and the robot will not be able to attain a suitable speed to
meet the user’s needs.
The torque output of the motor also plays a role in the performance because if the torque is not sufficient,
locomotion may not occur in certain situations. Therefore, much consideration was put into the selection
of the proper motor for the platform.
Figure 3.7.1 DC Motor

20. xx
Motors come in many shapes and sizes. There are electromagnetic direct current (DC) motors and
electromagnetic alternating current (AC) motors and a number of variations of each. AC motors are
typically used for large applications, such as machine tools, washers, dryers, etc., and are power by an
AC power line.
Since the typical power supply for mobile robotic is a DC battery, and technology for transforming DC
to AC is very expensive in both terms of monetary cost and power cost, AC motors where ruled out as
an option for the robot. DC motors are commonly used for small jobs and suited the purposes of the
platform very well. Figure shows the 12V DC motor use in wheelchair.
3.8 POWER SUPPLY
A power supply is an electronic device that supplies electric energy to an electrical load. The primary
function of a power supply is convert one form of electrical energy to another. Power supplies are
sometimes referred to as electric power converters. In most of electronic projects we need a power
supply for converting mains AC voltage to a regulated DC voltage. For making a power supply designing
of each and every component is essential.
Component list:
1. Step down transformer
2. Rectifier
3. Filter
4. Voltage regulator
Figure 3.8.1 Basic Block Diagram of Power Supply

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Design 5v DC power supply
 Transformer
First step is scale down the voltage by step down transformer and a step down transformer converts main
high ac voltage to the low ac voltage.
 Rectifier
Rectifier converts the alternative current to direct current. The Process of converts from ac current to dc
current is knows as rectification. And this is the most important equipment circuit for the designing ac
to dc power supply.
Figure 3.8.2 Circuit of Bridge Rectifier
 Filter
Filter is a process after rectification. So the dc current is carried out with the help of filter because of the
output of the rectification process contain some ripples and we need to filter these distortion. In 5v power
supply we are using 50v 1000uF capacitor.
 Voltage regulator
Voltage regulator provides the regulated output. There are varies voltage regulator available in market,
but we need 5v DC output so we are using LM7805. In some case we need 9v dc output so we use
LM7809, for 12v dc output we use LM7812.

22. xxii
Figure 3.8.3 Pin Diagram Of 7805
 The Schematic Diagram Of Power Supply
Figure 3.8.4 Schematic of AC to DC Power Supply

23. xxiii
CHAPTER-5 PROGRAM CODE
5.1 PROGRAM
#include <SoftwareSerial.h>
SoftwareSerial BT(10, 11); //TX, RX respetively
String readvoice;
void setup() {
BT.begin(9600);
Serial.begin(9600);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
}
//-----------------------------------------------------------------------//
void loop() {
while (BT.available()){ //Check if there is an available byte to read
delay(10); //Delay added to make thing stable
char c = BT.read(); //Conduct a serial read
readvoice += c; //build the string- "forward", "reverse", "left" and "right"
}
if (readvoice.length() > 0) {
Serial.println(readvoice);

24. xxiv
if(readvoice == "forward")
{
digitalWrite(7, HIGH);
digitalWrite (5, HIGH);
digitalWrite(6,LOW);
digitalWrite(9,LOW);
delay(100);
}
else if(readvoice == "return")
{
digitalWrite(7, LOW);
digitalWrite(5, LOW);
digitalWrite(6, HIGH);
digitalWrite(9,HIGH);
delay(100);
}
else if (readvoice == "right")
{
digitalWrite (7,HIGH);
digitalWrite (5,LOW);
digitalWrite (6,LOW);
digitalWrite (9,LOW);
delay (100);

25. xxv
}
else if ( readvoice == "left")
{
digitalWrite (7, LOW);
digitalWrite (5, HIGH);
digitalWrite (6, LOW);
digitalWrite (9, LOW);
delay (100);
}
else if (readvoice == "stop")
{
digitalWrite (7, LOW);
digitalWrite (5, LOW);
digitalWrite (6, LOW);
digitalWrite (9, LOW);
delay (100);
}
readvoice="";}} //Reset the variable

26. xxvi
CHAPTER-5 ADVANTAGED AND DISADVANTEGES
5.1 ADVANTEGES
1. Input can be changed rapidly.
2. Reduce man power.
3. Very easy to use.
4. More reliable.
5. Less wiring because of Bluetooth.
5.2 DISADVANTEGES
1. It has an operating range of 10-100 meters.
2. Bluetooth module technology often expensive.
3. Even the best recognition system sometime makes error.

27. xxvii
CHAPTER-6 APPLICATION AND FUTURE SCOPE
6.1 APPLICATION
 Hospitals.
 Home.
 The wheelchair can also be operated by blind people.
 Can be operated by the handicapped person.
 Obstacles in the way of wheelchair are detected and avoided using IR sensors.
6.2 FUTURE SCOPE
 Using gear box we can produce high speed moving wheelchair.
 PWM modulation can also increase speed.
 Solar Panel can also be used to charge the battery for power supply to the components required
to drive the wheelchair.
 The wheelchair can also include the gesture feature to operate the wheelchair.
 Wheelchair only can function properly when the weight of the load for this system must be
below 50 kilogram. Obstacle avoidance sensors are used.

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CHAPTER-6 REFERENCES
6.1 REFERENCES
[1] “Wheelchair for Physically and Mentally Disabled Persons”, Nirmal T M, International Journal of
Electrical and Electronics Research
[2] “Solar Powered Wheel Chair: Mobility For Physically Challenged”, Arun Manohar Gurram, P.S.V
Ramana Rao, Raghuveer Dontikurti, International Journal of Current Engineering and Technology,
[3] “Design and Implementation of an Electric Wheel-Chair to Economise it with Respect to
Bangladesh” by Humaira Salmin, Hafiz Rakibul, Pratik Kumar Kundu, B.M. Fahmid Jahur Shuvo,
K.B.M. Nasiruzzaman and Rahman MD Moshiour, International Journal Of Multidisciplinary Sciences
And Engineering, Vol. 5
[4] Speech recognition module, PPT web page available at
https://www.slideshare.net/mobile/RkPalz/speech.recognization_module_robomart
[5] Arduino with voice recognition module, web page available at
https://www.geetech.com/wiki/index.php/arduino_voice_recognition_module
[6] Voice controlled automation, web page available at
https://www.slideshare.net/mob/pro/Voice_controlled_automation