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Team T eneo

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

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Team T eneo

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  1. Team Teneo Dillon Krasovec Jerod Ellingson Robert Glissmann Ben Walker Patrick Hanschen

  2. Mission • Intuitive alternative to mouse and keyboard, or any difficult to learn remote controller • Why use a glove?

  3. 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

  4. High Level Architecture RF USB RF RF

  5. 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

  6. Glove Architecture Accelerometer Gyro

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

  8. Glove User Feedback

  9. Glove Communication • Pairing • Multiple devices • Not bi-directional • Interference

  10. PC Hub Architecture Processor MSP Family (SPI Master) USB Interface Atmel HID(SPI Slave) SPI Interface ZigBee ® Processor-2274 (SPI Slave) Battery Interface IC 32 Mhz Clock RF Infrared Camera

  11. 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

  12. 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

  13. 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

  14. 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.

  15. 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.

  16. RC Control Dynamics • “Degrees of freedom” • Hand Control “Independence” • Learning Curves • Direct vs. Controller Reference

  17. Our Choice: Coaxial (Blade CX2) • More inherently stable • Built in gyro to prevent yaw • Less maneuverable, more controllable

  18. Basic Feature: Direct Control • Holding a position vs. stable states • What is lost/gained? • What is intuitive? • Gestures • Hand fatigue Processor (2274) Master RF Interface Circuitry Proprietary RF Transmitter

  19. Why Have a Feedback Controller? • Quasi-stability • Disturbances are possible • Again the problem of maneuvers • Controller transparency

  20. Advanced Feature: Feedback Controller(Off-board configuration) Helicopter Hub Processor (2274) Master Processor (2274) Master RF RF 3-Axis Accelerometer Interface Circuitry Helicopter Servo Circuitry Proprietary RF Transmitter Proprietary RF Receiver

  21. Off-board Controller Discussion • Feedback delay • Throttle • Servos • Simpler implementation • “Extraneous parts” • Power • Ideally…

  22. Advanced Feature: Feedback Controller(On-board configuration) Helicopter Servo Circuitry Interface Circuitry 2-Axis Gyro Processor (2274) Master 3-Axis Accelerometer RF

  23. On-board Controller • No feedback delay • More control complexity • More direct approach • New interface circuitry • Power • Ideally…

  24. General Controller Concerns • Helicopter Modeling • Noise issues • Sensor drift • Testing leading to crashes • Helicopter limitations • Response time • Physical Damping • Low bandwidth

  25. 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

  26. Schedule

  27. Division of Labor

  28. Budget

  29. 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

  30. Questions C.H.C.

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