Clutch

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Clutch Powered By Docstoc
					Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen




                Team TENEO
                   Mission
• Intuitive alternative to mouse
  and keyboard, or any difficult
  to learn remote controller

• Why use a glove?
                   Use Cases
• PC-User Interaction
  – Non-technical every-day use: PowerPoint
    presentations, etc.
  – Technical usage: 3D or physical modeling, etc.
  – Media interaction: games, flight sims, virtual
    reality
• Remote device interaction
  – RC vehicle: remote control helicopter with
    auxiliary control
     High Level Architecture

        RF
                 USB




RF




        RF
          Design Considerations
• User Interaction
  – Physiology: thumb, index,
    and middle finger
  – Fatigue, Comfort and
    intuitive gestures
• Glove
  – Minor hand shaking filtering
  – Precision in pointing
  – Timing
• Long term
  – Carpal Tunnel
Glove Architecture




     Accelerometer



       Gyro
                        Glove Architecture
                                                                       3-Axis
                                                                   Accelerometer
           MSP430F2616                             SPI Interface     (SPI Slave)
           (SPI Master)

         A/D              GPIO                 Buttons


                                                                   Processor (2274)
                                                                      (SPI Slave)
                                 2-Axis Gyro        IR             ZigBee Module


 Flex           Flex     Flex                                            RF
                        Sensor                     DC/DC
Sensor         Sensor

                                                 Power supply
                                                                    PC        Heli
                                                   Battery         Hub        Hub
Glove User Feedback
            Glove Communication
• Pairing

• Multiple devices

• Not bi-directional

• Interference
            PC Hub Architecture


                             Processor
   USB      Atmel HID                                     SPI Interface
                            MSP Family                                         ZigBee ®
Interface   (SPI Slave)
                            (SPI Master)
                                                                  Processor-2274
                                                                    (SPI Slave)




                                           32 Mhz Clock
Battery                   Interface
                              IC
                                                                          RF

                          Infrared
                          Camera
    Emulation vs. Custom Device
• Custom device
  – Advantage: Allows for entirely new level of
    interactivity
  – Disadvantage: Incompatibility with all useful
    programs
• Emulation Device
  – Advantage: Universal compatibility
  – Disadvantage: Visual response to gestures is far
    less interesting
• Verdict: Emulate for wider application
                 PC Interface
• Default HID vs. Custom Driver
  – Advantage: Less development time
  – Advantage: More dependable driver
  – Disadvantage: Generally can’t tell HIDs to do
    things
• USB Hub identifies itself as both mouse and
  keyboard
• Send emulated state of both mouse and
  keyboard to reflect glove actions
         PC Configuration Utility
• PC Configuration Utility
  – Defining gesture definitions (e.g.
    Modeling vs. Gaming)
  – Creating custom gestures
  – Switch between existing and
    custom modes
• Communication: PC to Hub
  – Specifying desired gesture
    mappings to Hub
  – Use built in USB boot-loader to
    circumvent HID interface
                  Emulation
• What can the device emulate?
  – Mouse point and button clicks
  – Keyboard key presses
  – Complex gestures combined of above
• Gesture Mapping via Programmable LUTs
  – LUT is programmed via boot-loader interface
  – Single macro glove gestures equated to
    combination of key presses and mouse actions.
  – Hub calculates cursor motion from macro gesture.
                       IR Camera
• IR camera module from PixArt
   – Salvaged from the Wiimote
   – Incorporates required image
     processing
   – Output: brightest four (x,y) points
• Inter-chip Interface
   – I2C for broad compatibility
   – Risk: Not a publicly available device.
     We must snoop the signals.
          RC Control Dynamics
• “Degrees of freedom”

• Hand Control “Independence”

• Learning Curves

• Direct vs. Controller Reference
  Our Choice: Coaxial (Blade CX2)
• More inherently stable

• Built in gyro to prevent yaw

• Less maneuverable, more controllable
     Basic Feature: Direct Control
• Holding a position vs. stable states

• What is lost/gained?
                                       Processor (2274)
                                           Master
• What is intuitive?
                                             RF
• Gestures
                         Interface
                         Circuitry
• Hand fatigue
                                     Proprietary RF
                                       Transmitter
 Why Have a Feedback Controller?
• Quasi-stability

• Disturbances are possible

• Again the problem of maneuvers

• Controller transparency
Advanced Feature: Feedback Controller
      (Off-board configuration)
    Helicopter Hub


            Processor (2274)    Processor (2274)
                Master              Master


                  RF                   RF

                                                       3-Axis
Interface                                          Accelerometer
Circuitry

            Proprietary RF     Proprietary     Helicopter Servo
              Transmitter      RF Receiver         Circuitry
    Off-board Controller Discussion
• Feedback delay
    – Throttle
    – Servos
•   Simpler implementation
•   “Extraneous parts”
•   Power
•   Ideally…
Advanced Feature: Feedback Controller
      (On-board configuration)


                         Helicopter Servo
                             Circuitry

         Interface
         Circuitry


                              2-Axis Gyro

      Processor (2274)
          Master


                                3-Axis
            RF
                            Accelerometer
             On-board Controller
• No feedback delay
• More control complexity
• More direct approach
• New interface circuitry
• Power
• Ideally…
      General Controller Concerns
•   Helicopter Modeling
•   Noise issues
•   Sensor drift
•   Testing leading to crashes
•   Helicopter limitations
    – Response time
    – Physical Damping
    – Low bandwidth
                • Risks &
                    • Contingency Plans

• Managing development in a larger team
   • Each member needs to help make sure the work load is divided
     evenly
• High-fidelity sensor-data processing (the infrared camera)
   • Try and use accelerometer and gyroscope data to do positioning
• Lack of wireless experience
   • Start with wired connections and have them available incase of RF
     problems
• CHC (Catastrophic Helicopter Crash)
   • Try and repair
   • Use leftover funds to purchase a new one
• Control System Difficulties
   • If we are unable to make a working feedback controller, we can
     revert to some form of direct control
Schedule
                Division of Labor

Task                          Dillon   Robert   Ben   Patrick   Jared
IR Unit                         X        X
Drivers / USB                   X        X
Gyroscopes / Accelerometers                      X       X        X
Flex Sensors / Buttons                                   X        X
Software Sensor Design          X        X
Heli-Control System                              X                X
Heli-RF                                          X       X
PCB                             X        X       X       X        X
Construction                    X        X       X       X        X
                           Budget
Item                                 Quantity   Cost/Item   Total Cost
RF Chips (microprocessor included)   3          20          60
Gyroscope                            1          40          40
3-Axis Accelerometers                2          30          60
Flex Sensors                         3          15          45
Button                               2          1.5         3
Helicopter                           1          200         200
Helicopter Replacement Parts         4          10          40
USB Interface Board                  1          30          30
MSP 430                              2          Sample      0
Glove                                1          25          25
PCB                                  4          33          132
Miscellaneous Electronic Parts       N.A.       N.A.        60
Total Estimated Cost                                        695
      Hypothetical Functionality
• Motion recording
  – Physical Therapy
  – Muscle memory
• RC vehicles
  – Bomb diffusing robot
• Hand disabilities
• Glove could be expanded to an arm or even
  body suit
Questions




  C.H.C.

				
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posted:10/11/2011
language:English
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