1. Sonitus Capture the imagination

2. Agenda Introduction Introduction System Overview System Overview Transmit stage Transmit stage Receive stage Receive stage Data stage Data stage Market Market Conclusion Conclusion Q&A Q&A

3. Introduction Group Members Group Members President: Richard Sheng President: Richard Sheng CEO: Warren Lee CEO: Warren Lee CFO: Alan Chuang CFO: Alan Chuang CTO: Henry Lin CTO: Henry Lin COO: Edward Loo COO: Edward Loo CMO: Kenneth Fong CMO: Kenneth Fong

4. Pictures

5. Pictures (cont ’ d)

6. Introduction (cont ’ d) Purpose Purpose 3D Motion Capturing 3D Motion Capturing Technology Types Technology Types Optical Optical Magnetic Magnetic Mechanical Mechanical Acoustic Acoustic

7. System Overview 3D Motion Capturing System 3D Motion Capturing System Mobile Unit Source (Transmitter) Receivers Base Station Receiver Array Matrix Poles

8. Transmit Stage Base Station Base Station “ The Brain ” of the system “ The Brain ” of the system Decide which transmitter to send Decide which transmitter to send Time difference measurement Time difference measurement RF communication RF communication Used to communicate with Mobile station Used to communicate with Mobile station Start of time measurement Start of time measurement

9. Transmit Stage (cont ’ d) Mobile Unit Mobile Unit Captures and decodes the RF pulse Captures and decodes the RF pulse Turn ultrasonic transmitter on Turn ultrasonic transmitter on Pulse generation Pulse generation

10. Transmit Stage (cont ’ d) Body Suit

11. Receive Stage Ultrasonic receiver Ultrasonic receiver Picks up pulse sent by mobile unit Picks up pulse sent by mobile unit Noise rejection amp circuit Noise rejection amp circuit Takes signal from receiver Takes signal from receiver Provides non-linear gain Provides non-linear gain Rejects ambient noise Rejects ambient noise AC Couple BPFPre-amp Nonlinear Amp RAM

12. Receive Stage (cont ’ d) Receiver array matrix board Receiver array matrix board Captures which receivers turned on first (up to 4 sets) Captures which receivers turned on first (up to 4 sets) Interrupt generated to Base Station Interrupt generated to Base Station Channel disabled temporarily Channel disabled temporarily Peak hold detection used to measure phase error Peak hold detection used to measure phase error Analog to Digital Converter Analog to Digital Converter

13. Data Stage Base Station Base Station Once interrupt receives, captures Signal ID Once interrupt receives, captures Signal ID Calculates time difference, acquires A/D results Calculates time difference, acquires A/D results Data sent to PC via Serial Data sent to PC via Serial RAM Board temporarily disabled RAM Board temporarily disabled Triangulation Triangulation Converts time difference to distances Converts time difference to distances Distances triangulated to normalized coordinate in space Distances triangulated to normalized coordinate in space

14. Data Stage (cont ’ d) Triangulation Triangulation Algorithm 1 Algorithm 1 4 data sets 4 data sets Trigonometric calculation Trigonometric calculation Algorithm 2 Algorithm 2 3 data sets 3 data sets Iterative calculation Iterative calculation

15. Data Stage (cont ’ d) Graphical User Interface Graphical User Interface Visual C++ with MFC Visual C++ with MFC Left window real-time visual representation of the user Left window real-time visual representation of the user Right (multiple) windows displays sampled data in graph format Right (multiple) windows displays sampled data in graph format

16. Data Stage (cont ’ d) Sampling Control Sampling Control Number of samples (at 17ms period) Number of samples (at 17ms period) Select which sensors (transmitter channels) to plot Select which sensors (transmitter channels) to plot For each channel, reference can be set by the location of another channel, or constant. For each channel, reference can be set by the location of another channel, or constant.

17. Market Target Customer: Research Target Customer: Research Universities, talked to Kinesiology Faculty of SFU Universities, talked to Kinesiology Faculty of SFU Industrial research labs Industrial research labs Market ’ s current status Market ’ s current status Relatively small industry Relatively small industry 44 companies as of Feb 1999 44 companies as of Feb 1999 Target Price: $5 000 ~ $15 000 Target Price: $5 000 ~ $15 000

18. Market (con ’ t) Other possible customers Other possible customers Game industry, Medical research facilities, Entertainment industry Game industry, Medical research facilities, Entertainment industry Possible partners Possible partners Universities, other Instrumentation Engineering firms (to provide a broader range of products) Universities, other Instrumentation Engineering firms (to provide a broader range of products) Our competitive edge Our competitive edge Low cost (approx. 1/6 of industry price) Low cost (approx. 1/6 of industry price) Our competitors Our competitors

19. Competitors (cont ’ d) Intersense Intersense Multi-million dollar company established before tech boom Multi-million dollar company established before tech boom Ultrasonic/inertial tracking products Ultrasonic/inertial tracking products NASA space station robot arm controller NASA space station robot arm controller VR simulation tracked 3D glasses VR simulation tracked 3D glasses Helicopter Helicopter Japan motorcycle(learning) Japan motorcycle(learning) automobile test drive automobile test drive robot navigation AI programming robot navigation AI programming nanomachinary prototyping nanomachinary prototyping

20. Competitors (cont ’ d) Northern Digital Northern Digital Used at SFU Used at SFU Optical Technology Optical Technology Image guided surgery Image guided surgery Medical robotics Medical robotics image guided dental implantology image guided dental implantology navigation of surgical microscopes navigation of surgical microscopes

21. Conclusion Improvement considerations (& why they weren ’ t implemented): Higher frequency ultrasonic transducers for better accuracy (costs 5 times more) Higher frequency ultrasonic transducers for better accuracy (costs 5 times more) Separate A/D to improve resolution for better phase correction delay (ran out of time) Separate A/D to improve resolution for better phase correction delay (ran out of time) Better Quality ultrasonic transducers for faster ramp up time and sensitivity (cost) Better Quality ultrasonic transducers for faster ramp up time and sensitivity (cost) Self calibrating receiver array (pipes are hard enough to work with) Self calibrating receiver array (pipes are hard enough to work with) Faster microprocessor (ours was free) Faster microprocessor (ours was free)

22. Conclusion (cont ’ d) Budget: Proposed: approx. $1100 Proposed: approx. $1100 Spent: approx. $1200 Spent: approx. $1200 Overspent on back-up parts Overspent on back-up parts Lessons Learned: 1. Coupling capacitors are our friends 2. Cross talk … bad 3. Creativity does not always imply ingenuity (working) Group Dynamics

23. Q&A What does RAM stand for? What does RAM stand for? Name 2 other types of technology possible for motion capture. Name 2 other types of technology possible for motion capture. How many nights did we sleep at school? How many nights did we sleep at school?

24. Answers Receiver Array Matrix Receiver Array Matrix Optical and Magnetic Optical and Magnetic Approximately 20 Approximately 20