Team T ENEO Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen.

Team TENEO

Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen

Mission• Intuitive alternative to mouse

and keyboard, or any difficult to learn remote controller

• Why use a glove?

Use Cases

• PC-User Interaction– Non-technical every-day use: PowerPoint

presentations, etc.– Technical usage: 3D or physical modeling, etc.– Media interaction: games, flight sims, virtual

reality

• Remote device interaction– RC vehicle: remote control helicopter with

auxiliary control

High Level Architecture

RFUSB

RF

RF

Design Considerations• User Interaction

– Physiology: thumb, index, and middle finger

– Fatigue, Comfort and intuitive gestures

• Glove– Minor hand shaking filtering– Precision in pointing– Timing

• Long term– Carpal Tunnel

Glove Architecture

Gyro

Accelerometer

ZigBee ModuleZigBee Module

Glove Architecture

A/DA/D

MSP430F2616(SPI Master)

Flex Sensor

Flex Sensor

Flex Sensor

Flex Sensor

Flex Sensor

Flex Sensor

GPIOGPIO ButtonsButtons

Processor (2274)(SPI Slave)

RF

3-Axis Accelerometer

(SPI Slave)

3-Axis Accelerometer

(SPI Slave)SPI Interface

2-Axis Gyro2-Axis Gyro

HeliHubHeliHub

PCHubPC

Hub

IRIR

Power supplyPower supply

BatteryBattery

DC/DCDC/DC

Glove User Feedback

Glove Communication

• Pairing

• Multiple devices

• Not bi-directional

• Interference

PC Hub Architecture

Battery

USBInterface

USBInterface

Processor-2274(SPI Slave)

Interface IC

Infrared Camera

RF

SPI InterfaceAtmel HID(SPI Slave)

ProcessorMSP Family(SPI Master)

32 Mhz Clock

ZigBee ®

Emulation vs. Custom Device

• Custom device– Advantage: Allows for entirely new level of

interactivity– Disadvantage: Incompatibility with all useful

programs

• Emulation Device– Advantage: Universal compatibility– Disadvantage: Visual response to gestures is far

less interesting

• Verdict: Emulate for wider application

PC Interface

• Default HID vs. Custom Driver– Advantage: Less development time– Advantage: More dependable driver– Disadvantage: Generally can’t tell HIDs to do

things

• USB Hub identifies itself as both mouse and keyboard

• Send emulated state of both mouse and keyboard to reflect glove actions

PC Configuration Utility

• PC Configuration Utility– Defining gesture definitions (e.g.

Modeling vs. Gaming)– Creating custom gestures– Switch between existing and

custom modes

• Communication: PC to Hub– Specifying desired gesture

mappings to Hub– Use built in USB boot-loader to

circumvent HID interface

Emulation

• What can the device emulate?– Mouse point and button clicks– Keyboard key presses– Complex gestures combined of above

• Gesture Mapping via Programmable LUTs– LUT is programmed via boot-loader interface– Single macro glove gestures equated to

combination of key presses and mouse actions.– Hub calculates cursor motion from macro gesture.

IR Camera

• IR camera module from PixArt– Salvaged from the Wiimote– Incorporates required image

processing– Output: brightest four (x,y) points

• Inter-chip Interface– I2C for broad compatibility– Risk: Not a publicly available device.

We must snoop the signals.

RC Control Dynamics

• “Degrees of freedom”

• Hand Control “Independence”

• Learning Curves

• Direct vs. Controller Reference

Our Choice: Coaxial (Blade CX2)

• More inherently stable

• Built in gyro to prevent yaw

• Less maneuverable, more controllable

• Holding a position vs. stable states

• What is lost/gained?

• What is intuitive?

• Gestures

• Hand fatigue

Basic Feature: Direct Control

Processor (2274)Master

RF

Proprietary RF Transmitter

Proprietary RF Transmitter

InterfaceCircuitry

Why Have a Feedback Controller?

• Quasi-stability

• Disturbances are possible

• Again the problem of maneuvers

• Controller transparency

Advanced Feature: Feedback Controller(Off-board configuration)

Processor (2274)Master

RF

Proprietary RF Transmitter

Proprietary RF Transmitter

Processor (2274)Master

RF

Helicopter Hub

3-Axis Accelerometer

3-Axis AccelerometerInterface

Circuitry

Proprietary RF ReceiverProprietary RF Receiver

Helicopter Servo Circuitry

Helicopter Servo Circuitry

Off-board Controller Discussion

• Feedback delay– Throttle– Servos

• Simpler implementation• “Extraneous parts”• Power• Ideally…

Advanced Feature: Feedback Controller(On-board configuration)

Processor (2274)Master

RF 3-Axis Accelerometer

3-Axis Accelerometer

Helicopter Servo Circuitry

Helicopter Servo Circuitry

2-Axis Gyro2-Axis Gyro

InterfaceCircuitry

On-board Controller

• No feedback delay

• More control complexity

• More direct approach

• New interface circuitry

• Power

• Ideally…

General Controller Concerns

• Helicopter Modeling• Noise issues• Sensor drift• Testing leading to crashes• Helicopter limitations

– Response time– Physical Damping– Low bandwidth

• Managing development in a larger team• Each member needs to help make sure the work load is divided

evenly• High-fidelity sensor-data processing (the infrared camera)

• Try and use accelerometer and gyroscope data to do positioning• Lack of wireless experience

• Start with wired connections and have them available incase of RF problems

• CHC (Catastrophic Helicopter Crash)• Try and repair• Use leftover funds to purchase a new one

• Control System Difficulties• If we are unable to make a working feedback controller, we can

revert to some form of direct control

Schedule

Division of Labor

Task Dillon Robert Ben Patrick Jared

IR Unit X X

Drivers / USB X X

Gyroscopes / Accelerometers X X X

Flex Sensors / Buttons X X

Software Sensor Design X X

Heli-Control System X X

Heli-RF X X

PCB X X X X X

Construction X X X X X

BudgetItem Quantity Cost/Item Total Cost

RF Chips (microprocessor included) 3 20 60

Gyroscope 1 40 40

3-Axis Accelerometers 2 30 60

Flex Sensors 3 15 45

Button 2 1.5 3

Helicopter 1 200 200

Helicopter Replacement Parts 4 10 40

USB Interface Board 1 30 30

MSP 430 2 Sample 0

Glove 1 25 25

PCB 4 33 132

Miscellaneous Electronic Parts N.A. N.A. 60

Total Estimated Cost 695

Hypothetical Functionality

• Motion recording– Physical Therapy– Muscle memory

• RC vehicles– Bomb diffusing robot

• Hand disabilities• Glove could be expanded to an arm or even

body suit

Questions

C.H.C.