1. Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone Aaron Roberts Evan Wayton Eric Allar Michael Cremona April 27 th 2011 Faculty Advisors: Dr. Molyet and Dr. Kim Course Instructor: Dr. Serpen

2. Background What is the purpose of our project? Wireless control of a remote vehicle based on user inputs. –Design a controller which can be utilized with one hand. Hand gestures determine speed and direction of vehicle movements. –Utilize pitch and roll of hand to control speed and direction. Proximity sensor detects, and causes reaction to eminent collisions. Wireless video transmission permits use in non line of sight conditions. Comply with NEMA 250 standard for electronic enclosures.

3. Background What is the importance of our project? Intuitive user control interface Eliminating the need to hold a controller What are the applications of our project? Military use for remote inspection of terrain Exploration of hazardous environments http://chrisnoble.wordpress.com/2007/06/page/3/

4. Discussion Main Project Objectives: –System Design –Creation of Sub-systems –Critical Component Testing –Sub-system Testing & Integration

5. System Design Features of the drone: –Intuitive gesture control –Wireless communication –Sensor override –Audio visual feedback

6. Completed Glove and Drone

7. Creation of Sub-systems: 1.Gesture control 2.Motor control 3.Wireless communication 4.Sensor override 5.Glove power 6.Vehicle power 7.Video communication

8. Full System Schematic

9. System Architecture Gesture Controller Sub-System Wireless Control Communication Sub-System Drone Vehicle Sub-System User Power Supply Sub-System Vehicle Power Supply Sub-System Sensor Override Sub-System Wireless Video Communication Sub-System

10. Subsystems Gesture Control Sub-system –Purpose To provide the gesture commands that will control the drone. –Procedure Loaded program, observed if expected values were shown. –Issues overcome Overflowing ATmega328 serial buffer Adjusting tolerances

11. Glove Behavioral Flow Diagram

12. Subsystems Motor Control Sub-system –Purpose To interpret commands sent to the drone and provide the appropriate movement. –Procedure Ran program giving the micro-processor written commands. –Issues overcome Skipping neutral and straight states of acceleration and turning Length of the read in buffer

13. Vehicle Behavioral Flow Diagram

14. Subsystems Wireless Communication Sub-System –Purpose Reliable data transfer of user commands –Procedure Installed ZigBees and confirmed wireless communication was identical to hard-wired communication.

15. Subsystems Sensor Override Sub-System –Purpose Collision Avoidance –Procedure Added sensor code, tested functionality with overall design. –Issues overcome Sensor detecting the ground as a possible collision

16. Subsystems Power and Video Sub-Systems –Purpose Provide Battery Power to Essential Components Provide Wireless Video Transfer –Procedure Powered circuits without using lab power supplies. Tested video communication against ZigBee communication.

17. Power & Throughput Analysis RadioShack Enercell rated at 2.13 AH at a 100 mA Glove Battery Life 23 hours Drone Battery Life 50 minutes ATmega328 1 MIPS @ 1 MHz 100 instructions Time 6.25us

18. Communication Analysis Tx DC Power Rx DC Power

19. NEMA 250 For Electrical Enclosures Compliance with NEMA Standard –Involved various tests for foreign material. Dust/Dirt Water Solid Objects

20. Video demo

21. Conclusions Lessons Learned –Design –Compliance Future Plans/Improvements –Larger Drone –Power Supply –Feedback of Current State –Additional Sensors

22. Questions?