Wheelchairs are essential for enhancing mobility in people with disabilities, but traditional models often lack advanced functionality and safety features. This study presents a smart wheelchair system that overcomes these limitations by integrating smartphone control via Bluetooth, using the Arduino Uno R3 microcontroller. The research addresses key challenges, including ensuring smooth control and safety in varying environments. The developed smartphone application, created using visual block programming, communicates with the Arduino system, which is coded in C++. This setup enables users to control the wheelchair’s movement through commands sent to DC Motors, while an ultrasonic sensor detects obstacles, enhancing safety. Rigorous testing demonstrated the system’s reliability, with the ultrasonic sensor achieving a deviation of only 0.3 cm. The wheelchair supports users up to 53 kg, achieving a speed of 0.28 m/s, with performance decreasing for heavier users. The contributions of this study lie in the integration of advanced control and safety features, enhancing mobility, efficiency, and user safety, making it an innovative solution for users with limited physical capabilities.

Brushless DC (BLDC) Motors are used in a wide range of applications due to their high efficiency and high Power density. In this paper, sensorless four-switch direct Power control (DPC) method with the sector to sector commutations ripple minimization for BLDC Motor control is proposed. The main features of the proposed DPC method are: (1) fast dynamic response (2) easy implementation (3) use of Power feedback for Motor control that is much easy to implement (4) eliminating the torque dips during sector-to sector commutations. For controlling the Motor speed, a position sensorless method is used enhancing drive reliability. For reference speed tracking, a PI control is also designed and tuned based on imperialist competition algorithm (ICA) that reduces reference tracking error. The feasibility of the proposed control method is developed and analyzed by MATLAB/SIMULINK® . Simulation results prove high performance exhibited by the proposed DPC strategy.

Close encounters with the Western culture and art starts under the Qajar rule. In this period, art elements of the West find their way in the Persian art and architecture. This paper reports the results of a survey of Window-guards extant form the Qajar period in Hamadan City. Of an initial sample of 68 Windows, 26 samples were selected for not being a repetition of other designs. These show a gradual evolution in technique and style of using wrought iron in four phases.In the first phase, a pattern formed with S-shaped elements covers the rectangular area of a Window, while the semicircular area under the spanning arch is usually blocked. In the second phase, by modifying the ‘S’ element, all the Window area is covered. In the third phase, the S element is further modified, its tips become convoluted and its proportions are freely changed to fill rectangular areas. In the fourth phase, the Window-guard is treated as a decorative architectural element. Therefore, in addition to the S element, other decorative spiral elements are used.