Download - Team T eneo
Team TENEODillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen
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
RFUSB
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
Gyro
Accelerometer
ZigBee Module
Glove Architecture
A/D
MSP430F2616(SPI Master)
Flex Sensor
Flex Sensor
Flex Sensor
GPIO Buttons
Processor (2274)(SPI Slave)
RF
3-Axis Accelerometer
(SPI Slave)SPI Interface
2-Axis Gyro
HeliHub
PCHub
IR
Power supply
Battery
DC/DC
Glove User Feedback
Glove Communication
• Pairing
• Multiple devices
• Not bi-directional
• Interference
PC Hub Architecture
Battery
USBInterface
Processor-2274(SPI Slave)
Interface IC
Infrared Camera
RF
SPI InterfaceAtmel HID(SPI Slave)
ProcessorMSP Family(SPI Master)
32 Mhz Clock
ZigBee ®
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
• Holding a position vs. stable states
• What is lost/gained?
• What is intuitive?
• Gestures
• Hand fatigue
Basic Feature: Direct Control
Processor (2274)Master
RF
Proprietary RF Transmitter
InterfaceCircuitry
Why Have a Feedback Controller?
• Quasi-stability
• Disturbances are possible
• Again the problem of maneuvers
• Controller transparency
Advanced Feature: Feedback Controller(Off-board configuration)
Processor (2274)Master
RF
Proprietary RF Transmitter
Processor (2274)Master
RF
Helicopter Hub
3-Axis AccelerometerInterface
Circuitry
Proprietary RF Receiver
Helicopter Servo Circuitry
Off-board Controller Discussion
• Feedback delay– Throttle– Servos
• Simpler implementation• “Extraneous parts”• Power• Ideally…
Advanced Feature: Feedback Controller(On-board configuration)
Processor (2274)Master
RF 3-Axis Accelerometer
Helicopter Servo Circuitry
2-Axis Gyro
InterfaceCircuitry
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
• 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 JaredIR 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
BudgetItem 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.