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 System Block Diagram Glove Battery Accelerometers MSP430 Microcontroller ADC Flex Sensors Bluetooth Module Processing Host Computer Force Sensors Battery (two) Battery Bluetooth Module IR Obstacle Avoidance Vehicle MSP430 Microcontroller Processing ADC PWM Camera Controllers PWM Motor Controllers Video Camera The Glove Block Diagram Glove Lithium Ion 3.3V Battery MSP430F169 Microcontroller MMA7260Q Triple Axis Accelerometers .2 inch Force Sensors Multiplexer 4.5 inch Flex Sensors Internal Analog to Digital Converter Packet Creation (Voltage reading, sensor identification) Bluetooth SMD module- Roving Network Accelerometers MMA7260Q Triple Axis Accelerometers located on the base of the wrist and the top of the hand. X axis voltage range ~.8V to ~2.4V (90 degree rotation left to 90 degree rotation right) Y axis voltage range ~.8V to 2.4V (90 degree rotation backward to 90 degree reotation forward) Z axis voltage range ~1.6V to ~3.2V (downward/upward motion of the hand) Accelerometer Y-Axis Test Accelerometer X-Axis Test Accelerometer Z-Axis Test 3 2.6 3.6 3.4 2.4 2.5 2.2 3.2 3 2 Voltage 2.8 Time Voltage 2 1.8 1.6 1.5 2.6 2.4 1.4 2.2 1.2 1 2 1 0.8 1.8 0 0.5 1 1.5 Time 2 2.5 3 0.5 0 0.5 1 1.5 Voltage 2 2.5 3 1.6 0 0.5 1 1.5 Time 2 2.5 3 Flex Sensors 4.5 inch Flex Sensors for Flex Sensor Test (Index Finger) 2.1 2 1.9 1.8 Voltage each digit of the glove. Connected to MSP430F169 using voltage divider circuit Max voltage swing ~23% using 15k resistor (R value calculated using excel spreadsheet) of ~.8V. 1.7 1.6 1.5 1.4 1.3 0 0.5 1 1.5 Time 2 2.5 3 Flex Sensors Schematic Force sensors One located at the end of each digit on the glove Will be sent as a “high” or “low” output (pressed/unpressed) Simple voltage divider with 18K ohm resistor to lower impedance Force Sensor Test 3 2.5 Voltage 2 1.5 1 0.5 0 0 0.5 1 1.5 Time 2 2.5 3 Analog to Digital Conversion Eight A/D inputs for sixteen sensors Multiplexers Code Flow Power on Initialize UARTS, ADC, and timers Establish RS232 connection Enable accelerometers, timer, and ADC Process/Transmit Data and reenable ADC Switch MUX outputs and disable ADC Poll 8 sensors Processing Convert force sensor readings to on/off Compress other sensors from 12 bit resolution to 4 bit resolution Allows all data to be sent in one byte 4 least significant bits sensor state 4 most significant bits sensor identification Data loss risk reduced Data Transfer—RS232/Bluetooth Initially RS232 wired data transfer Between Milestone 1 and 2, transition to Bluetooth networking PCB The Car Block Diagram Lithium Ion 3.3V Battery Bluetooth SMD moduleRoving Network Sharp gp2d12 IR sensors Lithium Ion 7.2V Battery (two) Dissipation protection circuit MSP430 Microcontroller PWM Camera Controllers Internal Analog to Digital Converter Packet deconstruct ion, output PWM Motor Controllers Vehicle Video Compact Wireless-G Internet Video camera Physical construction Stainless 16 gauge steel sheet metal Chassis platforms Camera mount Aluminum Motor Boxes Wheels 8” Rubber treaded 2” Ball Casters DC motors 7.2V 444RPM 206oz-in Planetary Gearmotor 7.2V Lithium Ion Batteries PWM Send a series of digital pulses with varying duty cycles based on the Bluetooth packets Speed and turn radius determined by the width and frequency of each pulse IR Sensors and ADC Sharp gp2d12 Fail-safe control interrupt Convert IR sensors to digital signal If within 24 inches of an object, send stop interrupt If no object detectable, do nothing Avoid running into people and other obstacles Vref Motors and camera mount Lithium Ion 7.2V battery Power Protection Circuit PCB Camera Block Diagram Output Pan and Tilt angle Processing MSP430 from vehicle Inputs Bluetooth module from vehicle Goals 1st milestone Glove completely built Glove can provide output via RS232 Vehicle completely built Vehicle can take inputs via RS232 Collision protection 2nd milestone RS232 replaced by Bluetooth 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 Glove Glove MCU Coding Accelerometer Flex sensor Force sensor PCB Power Glove Construction Vehicle Vehicle MCU Coding Vehicle construction PCB design PWM IR sensors 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 Blake Chris X X X X X X X Brian X X X X X X X X X X X X X X X X X X X X X X X X X X X X Luke X X X X X X X X X X X X X X X X X X X X X X X Budget Description Units Cost Per Unit Total Cost Triple Axis Accelerometer MMA7260Q 3 $19.95 $59.85 Force Sensor .2" 5 $5.70 $28.50 Flex Sensor 4.5" 5 $11.66 $58.30 MSP430F169 development board 2 $40.95 Donated MSP430F169 Microcontroller 1 $10.00 Sampled Bluetooth SMD Module - Roving Networks 2 $59.95 $119.90 Half Arm Gloves (Pair) 1 $6.00 $6.00 Electronics protection 1 $10.00 $10.00 Battery PCB 1 1 $40.00 $30.00 Donated $30.00 PCB 1 $30.00 $30.00 MSP430F169 microcontroller 1 $10.00 Sampled 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 Donated 7.2V 444RPM 206oz-in Planetary Gear Motor 8” rubber treaded wheels 2 2 $30.95 $49.00 $61.90 Donated Hubs Sheetmetal Ball Casters Batteries 2 1 2 2 $8.00 $25.00 $9.54 $80.00 $16.00 $25.00 $19.08 Donated Miscellaneous parts 1 $100.00 $100.00 $734.47 Gloves Rover Miscellaneous Total Risks and Alternatives Bluetooth/RS232 Unfamiliar technology Losing information in data transfer Sensor resolution too low Camera Unsure about pan/tilt control Sensors Noise Voltage spikes Schedule Uncertainty Due to the level of unfamiliar technology in this project, our schedule is very tentative Questions? Camera/mount http://www.lightinthebox.com/Wireless-MPEG4-Pan- Tilt-Internet-IP-Camera--Webcam-YP-06094_p56061.html