Transcript Clutch
Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen
Team T
ENEO
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
RF
High Level Architecture
RF USB 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
Accelerometer Gyro
Flex Sensor
Glove Architecture
A/D MSP430F2616 (SPI Master) GPIO SPI Interface Buttons 3-Axis Accelerometer (SPI Slave) 2-Axis Gyro IR Processor (2274) (SPI Slave) ZigBee Module Flex Sensor Flex Sensor DC/DC Power supply Battery PC Hub RF Heli Hub
Glove User Feedback
• Pairing
Glove Communication
• Multiple devices • Not bi-directional • Interference
PC Hub Architecture
USB Interface Atmel HID (SPI Slave) Battery Processor MSP Family (SPI Master) Interface IC Infrared Camera SPI Interface
ZigBee
® Processor-2274 (SPI Slave) RF
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
Basic Feature: Direct Control
• Holding a position vs. stable states • What is lost/gained?
• What is intuitive?
• Gestures • Hand fatigue Interface Circuitry Processor (2274) Master RF Proprietary RF Transmitter
Why Have a Feedback Controller?
• Quasi-stability • Disturbances are possible • Again the problem of maneuvers • Controller transparency
Advanced Feature: Feedback Controller (Off-board configuration)
Helicopter Hub
Interface Circuitry Processor (2274) Master RF Proprietary RF Transmitter Processor (2274) Master RF 3-Axis Accelerometer Proprietary RF Receiver Helicopter Servo Circuitry
Off-board Controller Discussion
• • • • • Feedback delay – Throttle – Servos Simpler implementation “Extraneous parts” Power Ideally…
Advanced Feature: Feedback Controller (On-board configuration) Helicopter Servo Circuitry Interface Circuitry 2-Axis Gyro Processor (2274) Master RF 3-Axis Accelerometer
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
•
Risks &
•
Contingency Plans
• • • • •
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
IR Unit Drivers / USB Gyroscopes / Accelerometers Flex Sensors / Buttons Software Sensor Design Heli-Control System Heli-RF PCB Construction
Dillon
X X
Robert
X X X X X X X X
Ben Patrick Jared
X X X X X X X X X X X X X X X
Budget
Item
RF Chips (microprocessor included) Gyroscope 3-Axis Accelerometers Flex Sensors Button Helicopter Helicopter Replacement Parts USB Interface Board MSP 430 Glove PCB Miscellaneous Electronic Parts Total Estimated Cost 1 4 1 2 1 4 N.A.
2 3 2
Quantity
3 1
Cost/Item
20 40 30 15 1.5
200 10 30 Sample 25 33 N.A.
200 40 30 0 25 132 60 695
Total Cost
60 40 60 45 3
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