epocalypse mind controlled car
DESCRIPTION
EPOCalypse Mind Controlled Car. Group 21 Kathryn Morales Mike Strobridge Chris Perez Lee Sully. Basic Overview. Objectives. To be able to control an RC car around various obstacles using only the mind - PowerPoint PPT PresentationTRANSCRIPT
Group 21Kathryn Morales Mike Strobridge
Chris PerezLee Sully
EPOCalypse Mind Controlled Car
Basic Overview
• To be able to control an RC car around various obstacles using only the mind
• When certain brain waves or facial expressions are detected, the software will register and interpret them as separate vehicle commands
• Depending on what signal is detected the vehicle will go forward, left, right, or stop
Objectives
1. Headset: sampling rate of > 100 Hz, Resolution of 16 bits, Dynamic range > 200 mVpp
2. Emotiv Software: 2.4GHz processor, 1GB RAM, 50 MB disk space
3. RC car: have an operating range of 30 ft and have a full range of motion
Requirements/Specifications
• 14 channels with 7 paired sensors
• Sampling rate of 128 Hz• 16 bit resolution• 0.2 – 45 Hz bandwidth• Dynamic Range 256
mVpp• Transmits data
wirelessly to Bluetooth dongle at 2.4 GHz band
Emotiv EPOC Headset
Emotiv’s 3 suites• Cognitiv- registers and interprets
users conscious thoughts• Expressiv- uses the signals
measured to interpret users facial expressions
• Affectiv- monitors user’s emotional states (not being used)
• All suites reflect real time measurements
• Controlling forward motion of the car through the Cognitiv suite by training the mind to manipulate a 3D cube.
Emotiv Suites
Location of sensors on scalp
Area Name Brodmann Area #
Dorsolateral prefrontal cortex
9
Frontal eye fields 8
Anterior Prefrontal Cortex
10
Primary gustatory gyrus 43 (not shown)
Middle temporal gyrus 21
Primary motor cortex 4
Somatosensory association cortex
7
Brodmann Areas
Emotiv Headset Training/Testing
Expressiv Suite Testing;Detects range of facial expressionsWe will be using the left wink and right wink detection for left and right turning.
Cognitiv Suite Training;Methods tried•Thinking in a different language•Reaction to modest pain (oceans 11 tec.)•Focusing on/past an object•Immediate local temperature change
Main Board OptionsMainboard type
Processors
System Memory
Bios Chipset Price (w/o processor)
Intel DQ77KB
Core i3/i5/i7(Ivy/Sandy Bridge) desktop processors
2 DDR3 1333 SO-DIMMUp to 16 GB memory size
AMI uEFI BIOS 96 Mb flash memory
Intel Q77 Express
$149.95
Jetway NF9G-QM77
Core i3/i5/i7 (Ivy/Sandy Bridge) mobile processors
2 DDR3 1333 SO-DIMMUp to 16 GB memory size
AMI EFI 64MB SMT Flash ROM
Intel QM77 $245.00
Intel DH61AG
Core i3/i5/i7 (sandy bridge) desktop processors
2 DDR3 1333 SO-DIMMUp to 16 GB memory size
AMI uEFI BIOS 16 Mb flash memory
Intel H61 Express
$135.95
Decided on DH61AG • Because of price meets
minimum requirements• Using Intel Core i3 sandy
bridge processor running at 2.5 Ghz
• System Memory of 1 GB. Looking to expand to 2 GB
• Integrated Intel HD graphics as a bonus
• 160 GB laptop hard drive added
Intel DH61AG Mini Motherboard
Mini- ITX (17 X 17 cm)
• We decided to write the EPOC software using C++
• There are many examples of code already written in C++
• No prior experience in C++, so wanted a challenge.
EPOC Software
Class Diagram
Data Flow – Receiving a Signal
Data Flow – Dispatching
Preliminary Testing
Programed in C++
Translation Programming Scheme• Software translates a stream of
signals into an 8 bit binary signal
• The EmoState contains information and data
• evoked by the signals and commands are handled by its corresponding EMOTIV API functions and methods
Software Layout
Activity Diagram
• Translation Programming Scheme
Class Diagram
Transmitter on motherboard
Receiver on pcb Atmega328p-pu
DC Drive MotorDC Servo Motor
Basic Car Layout
Motor Control Circuit
• New Bright Ford F-150
• 3 lbs• $26.00
• Atmega 328p-pu microcontroller with 28 pins and a 5V operating voltage
17.7 inches
9.3 inches
9.8 inches
.28in
1.36in
•LM 7805 Voltage Regulator•Various diodes, LEDs, capacitors, resistors, and pin heads•.1uF, 22uF, 22pF, 2.2kohm, 47kohm, 1N4004
•L298N H-Bridge•Able to control two motors at the same time with a 5V operating voltage•When Enable A is activated it turns on the drive motor•When Enable B is activated it turns on the turn motor
.344in
.069 in
.157in
Drive Motor 1
Turning Motor
Enable Pin 14
Input Pin 15/16
Enable Pin 17
Input Pin 18/19
Result
L 00/11
L 00/11 OFF
L 01 L 01 OFFL 10 L 10 OFFH 00/1
1L 00/11 STOP
H 01 L 00 FORWARD
H 10 L 00 BACKH 01 H 01 RIGHTH 01 H 10 LEFT
H-Bridge L298N
Wireless Transmitter/ReceiverRF Link 315 MHz Transmitter/ Receiver
Xbee 802.15.4 (2.4 GHz)
Seeedstudio 315MHz RF Low Cost Transmitter / Receiver Pair
Range 500ft range (given perfect conditions)
100 feet (indoor)300 feet (outdoor, line-of-sight)
300 – 500 meters
Cost Transmitter: $3.95Receiver: $4.95
$21.99 each Pair: $4.99
Pros Very Cheap -Very reliable and simple communication- Ready to use out-of-box
- Very Cheap- Commonly used
Cons - Signal is very noisy- No method for pairing devices (Must do manually)
A little more expensive
Signal is very noisy (requires addition of encoder/decoder to remove disturbances)
• 2 Xbee modules communicate between the motherboard and the vehicle
• 1 Xbee connected to an Xbee Explorer dongle, then connected to the motherboard
• 1 Xbee connected to an Xbee Explorer Regulated, then connected to the pcb
• Range of 100 ft indoors/300 ft outdoor.
• Operating frequency at 2.4 GHz
Transmitting and Receiving Data
Final Printed Circuit Board
• Car: 6 volts, via four AA batteries, to power everything on the vehicle
• Motherboard: 90W 19V Laptop power source.
• Headset: Lithium polymer rechargeable battery with 12 hr life.
Power
Administrative Content
• Analysis and encoding of raw EEG data• Maintaining left and right directional
signals from left and right blinking• Problems training more than 3 cognitiv
commands for forwards/backwards movement
• Transmitting and receiving data from DH61AG motherboard to the onboard PCB
Difficulties
Team Member
Emotiv EPOC Headset
DH61AG Motherboard
Emotiv Coding
Software / other coding
Onboard PCB
Remote Controlled Car
Kathryn X XMike X X XChris X X XLee X X
Work Distribution
TotalCodingTesting
PCBPrototyping
DesignResearch
0% 10%20%30%40%50%60%70%80%90%56%
35%55%
40%25%
75%85%
Progress
Progress
Project Progress
Part PriceEmotiv EPOC Neuro-Headset $750.00Intel Mini-ITX Motherboard $135.95Intel Core i3 Processor $189.001 GB Onboard Memory $18.00CPU Cooler $39.00160 GB Laptop Hard Drive $95.8490W 19V Power Source $53.24Remote Control Car $26.00Serial to Parallel Converter $2.98DC Servo Motor $11.77Xbee Series 1 (2) $44.00Xbee Explorer USB $24.95Total $1410.73
Budget
Questions