Blake Davis: Electrical Engineering
Luke Haberkern: Electrical and Computer Engineering
Brian Hacsi: Electrical and Computer Engineering
Chris Kircher: Electrical and Computer Engineering
Project Overview
 Glove capable of
encoding hand motions
into generic instructions
 Vehicle with controllable
camera that can travel via
Bluetooth
communication using
instructions from glove
Purpose of the Glove
Control system capable of turning
manual input via hand motion and
gestures into detailed instructions
capable of being sent and read by
Bluetooth.
Purpose of the Vehicle
 Fully controllable vehicle
using Bluetooth inputs to
specify and direct speed,
direction and a camera.
 Simple obstacle
avoidance
System Block Diagram
Accelerometers
Flex Sensors
Video Feed
Force Sensors
Bluetooth
Module
MSP430
Microcontroller
Host
Computer
Gloves
Vehicle
Bluetooth
Module
MSP430
Microcontroller
PWM Motor
Controllers
PWM Camera
Controllers
IR Obstacle
Avoidance
Real World Applications
Glove
• Interactive controller
• Robots
• Vehicles
• Lights
• Music
• Gaming/entertainment
Vehicle
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Hazardous environments
Exploration
Entertainment
Military
The Glove
Block Diagram
Output
Bluetooth
Module
Processing
MSP430
Microcontroller
Sensors
Accelerometers
Force Sensors
Flex Sensors
Accelerometers
 MMA7260Q Triple Axis Accelerometers located on
the base of the wrist and the top of the hand.
 By comparing accelerometer outputs from each, we
will be able to effectively deal with ambient movement
by the person controlling
Flex Sensors
 4.5 inch Flex Sensors for
each digit of the glove.
 Act as variable resistors
with
 Straight (unflexed)
resistance: ~9000 Ohm
 90 degree bend
resistance: ~14000 Ohm
 180 degree bend
resistance : ~22000 Ohm
Force sensors
 One located at the end of each digit on the glove
 Allows for additional user inputs for further control
Custom Designed PCB
 Bluetooth SMD Module - Roving Networks
 MSP430F169
 Inputs from accelerometers, flex and force sensors
The Car
Block Diagram
PWM motor
control
Output
MSP430
Microcontroller
Processing
Inputs
Bluetooth
module
IR sensors
Physical construction
 Sheet metal
 Chassis
 Camera mount
 Wheels
 Polyolefin Hub Moldon Wheel 8”
 2” Ball Casters
 DC motors
 7.2V 444RPM 206oz-in Planetary Gearmotor
 Power System
IR Sensors
 Sharp gp2d12
 Fail-safe control
interrupt
 Avoid running into
people and other
obstacles
Vehicle Controller
 Custom designed PCB
 Bluetooth inputs for camera panning and rotation
output
 Bluetooth inputs to PWM output for motor control
 IR sensor interrupt handler
 MSP430F169 microcontroller
Camera
Linksys
Camera
Pan and Tilt Platform
Block Diagram
Output
Pan and Tilt
angle
Processing
MSP430
from vehicle
Inputs
Bluetooth
module from
vehicle
Goals
 CDR
 PCB’s designed, Vehicle built, sensor reading
 1st milestone
 Glove can provide output via Bluetooth
 Vehicle can take inputs via Bluetooth
 Collision protection
 2nd milestone
 Vehicle glove integration
 Camera controller to camera integration
 Collision interrupt
 Expo
 Complete camera and vehicle control using glove input
 User friendly interface
Timeline
Division of Labor
Blake
Glove
Glove MCU Coding
Accelerometer
Flex sensor
Force sensor
PCB
Power
Glove Construction
Vehicle
Vehicle construction
PCB design
PWM
IR sensors
Collision interrupt
Camera
Camera interface
Camera tilt and pan control
Camera controller
Controller construction
Network/Bluetooth
Glove to Vehicle
Camera controller to camera
Testing and Debugging
Glove
Vehicle
Camera
Integration
Documentation
UROP/EEF
Preliminary User's Manual
Final Technical Reference
User's Manual
Chris
Luke
Brian
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Budget
Description
Units
Cost Per Unit
Total Cost
5
$19.95
$99.75
Force Sensor .2"
10
$5.70
$57.00
Flex Sensor 4.5"
10
$11.66
$116.60
MSP430F169 development board
3
$40.95
$122.85
Bluetooth SMD Module - Roving Networks
3
$34.95
$104.85
Half Arm Gloves (Pair)
2
$42.95
$85.90
Battery
PCB
1
2
$40.00
$30.00
Donated
$60.00
PCB
1
$30.00
$30.00
MSP430F169 microcontroller
1
$10.00
$10.00
Bluetooth SMD Module - Roving Networks
1
$34.95
$34.95
MP-101 Pan and Tilt motorized platform
Analog IR Distance Sensor
1
4
$124.99
$12.50
$124.99
$50.00
DC Motors
Wheels
2
2
$30.95
$49.00
$61.90
$98.00
Hubs
Sheetmetal
Ball Casters
Batteries
2
1
2
2
$8.00
$50.00
$9.54
$80.00
$16.00
$50.00
$19.08
Donated
Miscellaneous parts
1
$400.00
$400.00
$1,541.87
Gloves
Triple Axis Accelerometer MMA7260Q
Rover
Miscellaneous
Total
Future Aspirations
 Glove
 Portability
 Vehicle
 Robotic arm
 Hazard control for communication loss
 On-board diagnostics
 Output voice
 Camera
 Output to portable screen (helmet system)
 360 degree panning ability
 Network
 Long range (Perhaps 3G or EDGE)
Risks and Alternatives
 Unfamiliar technology
 Bluetooth

Wired communication
 Microcontrollers (MSP430)

LabView interface
 PCBs
 Schedule Uncertainty
 Due to the level of unfamiliar technology in this project,
our schedule is very tentative
Questions?