Senior Design Project 08027 Institute Review Board Request, version 1.0
Institute Review Board Request:
Wireless Assistive Control System
Project 08027
Todd Bentley, ISE
Vianna Muller, EE
Benjamin Danziger, EE
Peter “PJ” Drexel, EE
Jay Radharkrishnan, EE
James Corcoran, CE
Dr. Edward Brown, Advisor
February 7th, 2008
RIT Multidisciplinary Senior Design
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Table of Contents
Mission Statement:.......................................................................................................................... 3
Abstract ........................................................................................................................................... 4
Statement of Need ........................................................................................................................... 5
Literature Review............................................................................................................................ 6
Project Narrative ............................................................................................................................. 7
Attachments .................................................................................................................................... 9
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Mission Statement:
The mission of this project is to design a prototype for the Electrical Engineering department
which will use electromyography (EMG) to control a remote device. The device will be used to advertise
the electrical engineering department at open houses. The testing requested herein is to collect enough
data that can be used to ensure the design is robust. Conceptual future implementation of this device is
to use EMG signals from someone suffering from muscular related disorders, in order to overcome their
physical handicap.
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Abstract
This document describes first phase of research and development necessary to successfully
design and implement a prototype wireless control system based on acquisition and processing of
bioelectrical signals generated from the minimal activation of the muscular system ostensibly to provide a
means of facilitating intentional control of external entities by someone with compromised muscular
activity or intentional limb motion. As a proof of concept, the outcome of these efforts will enable a
second phase design project involving the design and implementation of a compact, stand-alone
demonstration system that will utilize electromyography (EMG) signals obtained with common surface
electrodes to actively manipulate the operation of a small wireless remote control vehicle.
The efforts associated with the first phase of this effort will involve the staged development of a
test bench system1 that will integrate standard signal acquisition, processing and control components.
These components will enable the safe gathering of representative EMG data that will be processed and
analyzed. The signal processing and analysis will transform the EMG content into understandable control
signals that can be sent wirelessly to control a remote control vehicle. To bootstrap this effort, the initial
data collection will be carried out with established EMG data amplification and acquisition equipment.
This data will be processed and analyzed on a standard computing platform utilizing Matlab or a suitable
equivalent.
1
The standard set up consists of a Grass Telefactor EMG Amplifier, a regular desktop personal computer and a
medical grade power supply (see appendix). The Amplifier and PC will be powered through power supply.
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Statement of Need
In order to design a prototype that uses bio-signals, it is paramount that sufficient testing occurs
using a wide variety of individuals. The primary goal of this study is to gather data from a wide variety of
applicants that can be used in later testing to ensure the control system is working adequately. This
includes an initial calibration process and then recording specific movements.
All testing will occur in the Biomedical Electrical Engineering laboratory (09-4400). The test
subject will be informed of the risks of the project and asked to sign a waiver. Information from the test
subject will also be collected as pertaining to their body mass index (BMI), their exercising habits and
which hand is dominant. The actions done by each individual is contained in the narrative. The entire
process is expected to take thirty minutes.
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Literature Review
Need to incorporate references into paper
[1] K. R. Wheeler, M. H. Chang and K. H. Knuth, “Gesture Based Control and EMG Decomposition,” IEEE
Transactions on Systems, Man, And Cybernetics, vol 1:11, Nov. 2005.
[2] J. R. Wheeler, “Device Control Using Gestures Sensed from EMG,” IEEE International Workshop on Soft
Computing in Industrial Applications, June 23-25, 2003.
[3] Day, Scott. Bortec Biomedical: Important Factors in Surface EMG Measurement. Internal Document.
[4] Basmajian JV, De Luca CJ. Muscles Alive. Their Function Revealed by Electromyography. Williams &
Wilkens, Baltimore, 1985.
[5] Herrington, Lee, “EMG Biofeedback: What can it Actually Show?” Physiotherapy, vol 82:10, Oct 1996.
[6] Disselhorst-Klug, Catherine, J. Silny and G. Rau “Improvement of Spatial Resolution in Surface-EMG: A
Theoretical and Experimental Comparison of Different Spatial Filters,” IEEE Transactions on Biomedical
Engineering, Vol 44:7, Jily 1997.
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Project Narrative
The goals of this project is to use the data that is collected, in order to ensure the controller
algorithm is robust. While this testing will use the data from the study, the actual evaluation is
independent of the study. Within the actual evaluation of the controller algorithm (which is written in
Matlab), the goals are to confirm the effectiveness of the calibration progress and then its success rate
with the movements thereafter. It will be possible to output the results from Matlab to the remote
controlled device, and confirm that the desired actions resulted in the appropriate movements. The data
will be evaluated by graphing the outputted controller commands, also in Matlab.
Participant Interaction
Four surface mount electrodes2 will be placed on the applicant either by him or herself, or by the
individual administrating the test. These electrodes will go on each group of thenar muscles in the hand
and on the flexor muscle group of the inner forearm. This will be mirrored on each arm.
The test subject will then be given a wireless X-box controller and instructed as to how it should
be held. The difference between left-right thumb actions and forward backward hand motions will be
discussed and the test administrator will confirm the hand motions are correct. The test motions are as
follows: A is the patient’s right fingers, which are to clasp around the handle of the controller. B is the
patient’s right thumb which starts relaxed on the front of the controller. It will travel in a motion going left
and right. Motions C and D are the same actions with the left fingers and thumb, respectively.
The test administrator will then instruct the test subject what action they are to perform, how long
it is to be performed, when to start and when to relax (upon conclusion of each test). The test
administrator is to record all of this information through Matlab. After each test, the administrator will first
ask if the test subject is ready before instructing them to begin the next motion.
The first test consists of the test subject squeezing the controller as hard as they can and pushing
inward with both thumbs. This will be for three seconds. This test will be repeated 3 times. This is done
so the test administrator can set the amplifier to a proper gain (where the signal was clearly visible but is
not too sensitive).
2
The surface mount electrodes are the MediTrace 230.
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Senior Design Project 08027 Institute Review Board Request, version 1.0
The second test consists of using only the fingers. One hand at a time will be analyzed. The test
subject is to slowly squeeze to his or her max strength relatively slowly and then relax at the same speed.
This is to be done 3 times with the right hand and then three times with the left hand. Each trial will take 5
seconds.
The third test consists of using only the thumbs. One hand at a time will be analyzed. The test
subject is to slowly move his or her thumb inward on the analog stick of the controller to his or her max
strength relatively slowly and then relax at the same speed. This is to be done 3 times with the right hand
and then three times with the left hand. Each trial will last for 5 seconds.
The electrodes are then to be taken off by the test subject. They will be disposed of immediately.
The entire process (from explaining the waiver to completion of all tests) is expected to take under thirty
minutes.
All testing will be done by project members of P08027. This is a Multidisciplinary Senior Design
Project under the guidance of Dr. Edward Brown and assistance from Dr. Matthew Marshall and Dr.
Daniel Phillips. The students members which will be running all tests are Todd Bentley (ISE, ‘08), Vianna
Muller (ISE, ‘09), Benjamin Danziger (EE, ‘08), Peter Drexel (EE, ‘08), Jay Radharkrishnan (EE, ‘08) and
James Corcoran (CE, ‘08).
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Attachments
Resumes:
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Todd Bentley
E-mail Address: tkb1214@rit.edu
Education
Rochester Institute of Technology, Rochester, NY
Degree: Bachelor of Science, expected grad date- May 2008
Major: Industrial and Systems Engineering
Concentration: Economics
Jamestown Community College, Jamestown, NY
Degree: Associates of Math & Science, received May 2004
Coursework
Production Control
Systems and Facilities Planning
Ergonomics
Engineering Economy
Operations Research
Materials Processing
Projects/Labs
CICMHE National Design Contest
Redesign of a storage and distribution center using good material handling practices. Project
involved analysis and design of material flow throughout the facility, selection of equipment,
detailed description of operations, and justification for all recommendations.
Failure Analysis of a Metal Part
Determine the function of the part and the circumstances of its failure. After using appropriate
tests to understand its material properties, make suggestions for the improvement of the part to
prevent future failures.
Skills
Software: Arena, CAD, FactoryCAD, FactoryFlow, MicrosoftWord, Excel, Access,
PowerPoint, C++
Equipment Experience: Lathe, Mill, Grinder/Polisher, Drill Press
Miscellaneous: AOCA Certified Technician, French language
Experience
Parker-Hannifin Corporation, Aerospace Division, Clyde, NY
Lean Systems Co-op, 6 Months total
Participated in numerous Kaizen events, Worked with operators and Ops Leaders, conducted
time studies.
Critical staff member of the facility layout project in which the entire plant was laid out with
continuous flow in mind.
Performed 5S tasks, created TPM documents, and Standard Work instructions. Also assisted in
re-work control, development of a new inventory control system.
Delta Sonic Carwash, Rochester, NY
AOCA Certified Tech, Customer Service Advisor, Shift Manager. April 2005-Present.
Perform maintenance services, advise customers on pertinent vehicle maintenance,
closing/opening paperwork, inventory tracking.
Activities
-Institute of Industrial Engineers- Member since 2005
-DCA Competitive Drum Corps.
Rochester Crusaders- Mellophone/Contra 2002, 2003, 2006,
Member of the Board, Support Staff Director, Section leader.
Syracuse Brigadiers- Contra 2004, 2005
-JCC Jayhawk Swim/Dive Team- Member from 2002-2003
Statics and Dynamics
Simulation
Materials Science
Linear Regression Analysis
Linear Algebra
Human Factors
Differential Equations
Fund. Of Sustainable Design
Probability and Statistics Applied Statistical Quality Control
Contemporary Production Systems-Lean
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Senior Design Project 08027 Institute Review Board Request, version 1.0
VIANNA J. MULLER
Email: vjm0779@rit.edu
EDUCATION
Rochester Institute of Technology
Electrical Engineering/Biomedical
Bristol Eastern High School
GPA of 4.4/4.0, Salutatorian
Coursework
Rochester, New York
Bristol, Connecticut
……….. Graduated June 2004
Electronics I, II
Electromagnetic Fields I, II
Linear Systems I, II
Microcomputer Systems
SCHOLARSHIPS,
AWARDS & HONORS





Presidential Scholarship at RIT
Electrical Engineering Department Scholarship (05-06 & 06-07)
Scholarship Viola Hallman Award 2004
CT Interscholastic Athletic Conference Award 2004
Bristol Hall of Fame Scholar Athlete Award 2003-2004
EXPERIENCE
Army ROTC
On campus Cadet Training
Rochester, New York
St. Paul Travelers Insurance
Hartford, Connecticut
Telecommunications Technician
Summer 2005
 Performed high level diagnostic procedures.
 Resolved network issues.
 Managed voice network database.
Lake Compounce Amusement Park
Full time Certified Life Guard
Bristol, Connecticut
Summer 2004
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Benjamin J. Danziger
Email: bjd3877@rit.edu
Education
Rochester Institute of Technology
Major: Electrical Engineering with the Biomedical Sciences Option
Degree: Bachelor of Science, expected May 2008
Coursework
Biomedical Instrumentation (Curr.)
Organic Chemistry II (Curr.)
Electrophysiology
Probability and Statistics
Mechatronics and Control Systems
Medical
Experience
Emergency Medical Technician, level – basic
RIT Ambulance September 2005 to present (Rochester, NY)
North Area Volunteer Ambulance Corps Summer-Fall 2006 (Syracuse, NY)
Projects / Labs
Senior Design – Project Manager (current), design a wireless bio-assistive
device; this uses electromyography to activate and control a remote vehicle
Electrophysiology – Simulation of an implanted device that would propagate an
action potential of a neural fiber in Matlab
Mechatronics – Developed/Simulated a model of a mobile strand of e.coli in
Simulink
Biomedical Sensors/Transducers (Curr.)
Gross Anatomy (Spring 2008)
Human Anatomy & Physiology 1, 2
Digital and Analog Circuit Design
Electromagnetic Field Theory 1, 2
Gradute Research MicroPump – Graduate level research project for an implantable, refillable,
variable flow micropump platform for intracochlear drug delivery for deafness
therapy without detriment to inner cochlear function (Spons. by the NIH).
Employment
Ortho-Clinical Diagnostics, Rochester, NY
Dec. 2007 to Present, Title: Service Engineer
Design a parts database for a new blood analyzer device, pre-FDA approval.
Database interacts with separate groups within the company.
Industrial Indexing Systems, Victor, NY
Sum. 2007 to Nov. 2007, Title: R&D Engineer
Designed a circuit board to replace a processor board in a control system. Wrote
Visual Basic applications, programmed in assembly and in company’s controller
language (similar to C). Worked part time when co-op ended.
Sensis Corporation, Syracuse-Dewitt, NY
Sum. 2005, Sum. – Fall 2006, Title: Hardware Engineer, Test Engineer
Assembled, tested and troubleshot multilateration and radar systems designed
for the FAA. Updated and rewrote technical documents. Implemented new tests
to ensure thoroughness of testing process. Used cross platform systems.
Troubleshot obsolescence issues on circuit boards. Part of a team which
decided company policy on RoHS parts. Tested circuit boards.
Leadership
Skills
Activities
Peter G. Drexel
President, RIT fencing club 2006-2007 – Responsible for running nat’l level tournaments
Vice Chairman, RIT Student branch of IEEE, 2005-2006 – Responsible for the
IEEE Student Design Contest , which is an international contest with
$20,000 worth of funding
IEEE Student Branch, RIT Fencing Club, Ishin-ryu Karate, RIT Ultimate Frisbee
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Email: pgd3344@rit.edu
EDUCATION:
Rochester Institute of Technology, Rochester, NY
Major: Electrical Engineering
Minor: Business Administration
Degree: Bachelor of Science, expected May 2008
RELEVANT COURSEWORK:
Science: Chemistry, Physics I-III, Modern Physics, Intro to Semiconductor Devices
Engineering: C-programming, Circuits I & II, Microcomputers with lab, Electricity and Magnetism I & II ,
Digital Systems, Electronics I & II, linear Systems I & II, Digital Electronics, Computer Architecture,
Communication Systems, Control Systems, Digital Filters and Signal Processing
COMPUTER SKILLS:
Software: Word, Excel, Visio, Access, MATLAB, PSpice, Quartus II, Simulink
Programming Languages: C, Visual Basic, Pascal, Assembly, ORACLE SQL
LABS:
Digital Electronics
Explored applications of NMOS, PMOS and CMOS technologies. CMOS and NMOS inverters were
studied from both static and dynamic points of view. A 1-bit SRAM was prototyped as a final project.
Computer Architecture
A low level Von Neumann processor was designed and then simulated in Quartus II using given design
parameters.
Control Systems
Designed a controller using root locus, transient properties and steady state error. The controller tested in
Simulink.
EMPLOYMENT:
Fannie Mae Herndon, VA (co-op)
Technical Writer/Programmer
Learned/used MATLAB, Microsoft Excel,
Access, Visio, Oracle 10g SQL, Visual Basic
NTID Rochester, NY (co-op)
Assistant Audio/Visual Engineer
Learned problem solving skills, tape dubbing,
Soldering, and handled inventory. Designed
and updated classrooms for hard of hearing students.
Crosdale Construction Plymouth, NH
Demolition worker.
Learned general carpentry skills (hammer drill,
chop saw and other various power tools)
December – February
2005-06
July - November
2006
June - August
2004
ACTIVITES:
IEEE, Swing club, Rock climbing, Ultimate Frisbee (Intramurals)
REFERENCES:
Available on request
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Jayadevan (Jay) Radhakrishnan
Email: jxr6107@rit.edu
EDUCATION:
Rochester Institute of Technology, Rochester, NY
BS/MS in Electrical Engineering, expected May 2008
AWARDS:
Dean’s List Award, RIT Merit Scholarship Recipient
COMPUTER SKILLS:
Operating Systems: Windows (NT, 2000, XP), UNIX, MAC OS, Linux
Languages: C, C++, Assembly, STL, Visual Basic, VHDL
Networking / communication protocols: IP Version 4, MODBUS
Applications / Tools: Tricon 1131, Allen-Bradley RS Logix 500, GE Speedtronic Mark
VI Toolbox, GE Fanuc Cimplicity, Emerson DeltaV, MS Office, Altera Max II Plus,
Visio, PSpice, Adobe Acrobat Quartus 5.0, Adobe Photoshop, Matlab, PCB123
Schematic, PCB123 Layout, Cadstar, Oracle
PROJECTS/LABS:
Digital Systems:
Microcomputers:
Segment Display
Computer Architecture:
Ripple Counters (Altera Max), Versatility of Hardware Devices, NAND Logic Design,
Multiplexers, Basic Latches and Flip Flops
Keypad Scanning Using Input/Output Ports, Peripheral Control, Controlling the Seven-
ALU Design, Registers, Counters and RAM, Processor Datapath, Control Unit, Complete
Processor Simulation and Emulation
Electronics I (BJTs):
Diode characteristics and Circuits, BJT characteristics, Biasing and Amplifiers, Power
Supply Design, Transistor Modeling of BJTs, BJT Common Emitter Amplifier Design
Electronics II (MOSFETs):MOSFET Characterization, MOSFET Current source MOSFET Differential Pair with
Resistive Load, MOSFET Differential Pair with Active Load, Feedback Amplifier &
Stability
Digital Electronics:
Design, Simulation and Testing of NMOS Inverters, CMOS Inverter and CMOS
Combinational Logic, CMOS Sequential Logic, Propagation Delay Through CMOS
Logic, Dynamic CMOS Logic, MOS-based Memory
Control Systems Design: Modeling the Permanent Magnet DC Motor, Performance Analysis of Open-Loop and
Closed-Loop Systems, Transient Response and Design Parameters, Effect of Additional
Pole and/or Zero, Effect of Adding a Pole and/or Zero within the Loop, Velocity of the
DC Motor Using Compensators
CLASSES:
Linear Systems I & II, Fuzzy Logic and Application, Matrix Methods in EE, Random
Signals and Noises, Electromagnetic Fields I &II, Digital Signal Processing,
Communication Systems, State Space Control, Mechatronics
WORK EXPERIENCE:
Rochester Institute of Technology - DSS Labs, Rochester, NY (09/2004 - Present)
Lab Assistant
Provide assistance to computer users and maintain clean work environment
MKS Instruments, Software, Rochester, NY (11/2006-05/2007), Coop-Intern
Assisted software engineering with the following jobs: Generate/Revise/Update
Schematics, Bills of Material, Test Fixtures, Reliability Stress Sheets, Printed Circuit
Layout, Software Design/Development
Yokogawa Corporation, GOSP, Bahrain (10/2006-11/2006)
Engineering Assistant
Aided in the Factory Accepted Test of the Control System Upgrade for the GOSP-7
Project
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Senior Design Project 08027 Institute Review Board Request, version 1.0
Summit Technologies - Instrumentation and Process Control Dept., Al-Khobar (03/200508/2005)
Engineering Assistant
Worked on configuring and maintaining the following systems:
 Tricon Version 9.0 TMR
 Allen-Bradley SLC500
 GE Speedtronic Mark VI gas turbine controls
 GE Fanuc Cimplicity HMI
 Foundation Fieldbus (used DeltaV for configuration and maintenance)
Rochester Institute of Technology, Orientation Program, NY (08/2004-09/2004)
Orientation Assistant
Provided assistance to incoming freshmen and transfer students in gaining a smooth
transition to RIT. Job required team work and leadership qualities.
ACTIVITIES:
Institute of Electrical and Electronics Engineers (IEEE), RIT Fencing Club, Basketball,
Soccer, RIT Orientation Program, Golf
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