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
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Brian
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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