EOG Based Robot Controller

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Presentation transcript:

EOG Based Robot Controller Presented By: Charbel A. Habib Harpreet Kaur Jassal Hassan A.M. Muhsen

Outline The Project Future Work Conclusion Input unit Processing unit Control Unit Output unit Future Work Conclusion

The Project System Architecture

EOG EOG Signal EOG: Electrooculogram the recording of the changes in voltage that occur with the eye position. Electro: electrical Oculo: eye Gram: recording

EOG EOG Signal EOG: Electrooculogram spherical battery 0.4 and 1 mV positive terminal: the cornea negative terminal: the retina. 0.4 and 1 mV

EOG EOG Signal

EOG EOG Signal The signals are measured using EEG disposable electrodes

Input Unit Sensors Amplifier

EOG Electrode signal: This low voltage is not strong neither usable 0.4 and 1 mV This low voltage is not strong neither usable SOLUTION: ???

EOG Amplifier Designing an amplifier Requirements: Total gain of 5000 Cutoff frequency of 25Hz LPF Offset compensation

Amplifier Design

Buffer Amplifier

Difference Amplifier Amplifier Gain = -R2/R1

High Frequency Filter 4th order Butterworth Filter Cut off Frequency of Filter (f0)= 1/(2π*R*C)

Low Pass Filter

Summer Amplifier

Inverting and Non inverting Amplifier + Rectifier Inverting Amplifier = -R2/R1 & Non Inverting Amplifier = 1+ R2/R1

Half Wave Rectifier

Amplifier Implementation

Amplifier Gain

Problems Unavailability of small power supply Electrodes Amplifier Vcc supplier

Main Unit Process Unit Control Unit

Processing Unit Right side movement of eyes Left side movement of eyes Movement of eyes during reading Upside movement of eyes Downward movement of eyes Blinking movement of eyes

Signal Processing Filtering (Median Filter) Segmentation (Clustering)

Original Data

Filtered Data

Segmented Data

Problems Microcontroller Delay Median Filter Window Size

Control Unit

Control Unit Translation (PWM) Communication Center = 128 Right & Up = 185 Left & Down = 70 Communication Direct from Microcontroller

Main Unit Overall Picture

Problems Calibration ADC Delay

Output Unit

Demo

Future Work On/Off Mechanism Real Neck Implementation Applying to Aesop3000

Conclusion

THANKS Any Questions???