Team T ENEO 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 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 Gyro Accelerometer

ZigBee Module Glove Architecture A/D MSP430F2616 (SPI Master) Flex Sensor GPIO Buttons Processor (2274) (SPI Slave) RF 3-Axis Accelerometer (SPI Slave) 3-Axis Accelerometer (SPI Slave) SPI Interface 2-Axis Gyro Heli Hub Heli Hub PC Hub PC Hub IR Power supply Battery DC/DC

Glove User Feedback

Glove Communication Pairing Multiple devices Not bi-directional Interference

PC Hub Architecture Battery USB Interface USB Interface Processor-2274 (SPI Slave) Interface IC Infrared Camera RF SPI Interface Atmel HID (SPI Slave) Processor MSP 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 – 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 Interface Circuitry

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 Processor (2274) Master RF Helicopter Hub 3-Axis Accelerometer Interface Circuitry 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) Processor (2274) Master RF 3-Axis Accelerometer Helicopter Servo Circuitry 2-Axis Gyro Interface Circuitry

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 Risks & Contingency Plans

Schedule

Division of Labor TaskDillonRobertBenPatrickJared IR UnitXX Drivers / USBXX Gyroscopes / AccelerometersXXX Flex Sensors / ButtonsXX Software Sensor DesignXX Heli-Control SystemXX Heli-RFXX PCBXXXXX ConstructionXXXXX

Budget ItemQuantityCost/ItemTotal Cost RF Chips (microprocessor included)32060 Gyroscope140 3-Axis Accelerometers23060 Flex Sensors31545 Button21.53 Helicopter1200 Helicopter Replacement Parts41040 USB Interface Board130 MSP 4302Sample0 Glove125 PCB Miscellaneous Electronic PartsN.A. 60 Total Estimated Cost695

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.