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3D Mouse Glove

3D Mouse Glove. Group 17 Presented by Borui Chen & Jianer Shi T.A.: Ryan May 12/02/2011. Agenda. Introduction Overall System Hardware Circuit Design Driver Flowchart Test Algorithm Quaternion Kalman -Filter Ethnical Concern Application Possibilities. Introduction.

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3D Mouse Glove

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  1. 3D Mouse Glove Group 17 Presented by Borui Chen & Jianer Shi T.A.: Ryan May 12/02/2011

  2. Agenda • Introduction • Overall System • Hardware • Circuit Design • Driver Flowchart • Test • Algorithm • Quaternion • Kalman-Filter • Ethnical Concern • Application Possibilities

  3. Introduction Current Solutions Our Solutions • Not portable • Require large calculation on the user(computer) side • 3Dconnection • Not intuitive • Requires a lot of practice • Naturally adaptive control • Easily Portable • DSP Based (Kinect)

  4. Overall System Controller

  5. Hardware Circuit Design

  6. Main Board

  7. Main Board Architecture 3.3V Voltage Regulator AVR32 MCU RF Board Connector 5XFinger Board TWI Bus Socket TWI Bus Mux /Demux SPI TWI TWI Mini-USB DFU NMI Reset

  8. TWI Bus Mux /Demux TWI Main Board 6 TWI Sub-Bus for Each Finger Board Bus Select Functionality Test: Drive GPIO

  9. Main Board 3.3V Voltage Regulator • 3.4v to 4.2V Battery • 35mV drop at 100mA

  10. Main Board AVR32 PLL 84Mhz Main Clock

  11. Main Board Pull-up Resistor Network on both side of the Mux

  12. Main Board

  13. Main Board

  14. Finger Board

  15. Finger Board Architecture TWI Sub-Bus Socket 0-4 Accelerometer TWI TWI TWI Magnetometer 3.3V Power Socket Gyro

  16. Finger Board Accelerometer

  17. Finger Board Magnetometer

  18. Finger Board Gyro

  19. Finger Board

  20. Finger Board Test Procedure: Using Arduino to extract data from 3 sensors on each fingerboard Result: Successful, all responded with correct data

  21. 2.4 Ghz RF Board • Reference Design by the chip company • 11.3mA TX Current

  22. Receiver Board

  23. Receiver Board Architecture ISP SPI USB 5V Power AVR8 FT232RL USB <-> UART Virtual COM Port UART LED TX/RX Indicator SPI 3.3V Voltage Regulator RF Board Connector

  24. Receiver Board USB

  25. Receiver Board 3.3V Voltage Regulator

  26. AVR8 LED TX/RX Indicator USB FT232RL USB <-> UART

  27. Receiver Board

  28. Receiver Board Software

  29. Receiver Board Software • 2 Approach • Stack based static buffer • Heap based dynamic buffer • Test • Echo Program

  30. Main Board SPI

  31. Wireless Communication Test • Testing Object: • 1. Functionality • 2. Performance

  32. Wireless Communication Test • 1. Functionality Test • Procedure: Send data from Main Board, collect data from computer via the Receiver Board

  33. Wireless Communication Test • Performance Test • Procedure: randomly send and collect 500 packages, record package loss.

  34. Algorithm • Quaternion • 3D rotation representation • Gauss-Newton Method • Estimation of reference frame • Kalman filter • Sensor fusion • Reduce noise

  35. Quaternion Quaternion Relation between vectors Vector • Relation between points

  36. Quaternion Euler Angle • Advantage: • Easy to describe 3D rotation • Relate with Euler angle. • Roll • Pitch • Yaw

  37. Gauss-Newton Algorithm • Usage: Compute reference orientation • Estimation process: • Non-linear • Iterative

  38. Kalman Filter Rudolf Emil Kalman • Observer design Problem • State-space model • Two stages • Estimation • Correction

  39. State space model • For Kalman filter: • In our case: • A comes from gyroscope • B=0 • H=[I] • Var(w) = Q • Var(v) = R

  40. Kalman Filter Stages Where • Equations • Estimation Stage • Update Stage

  41. Block diagram

  42. Applying to our project States State transition B = 0 (no control signal) H = I(4)

  43. Applying to our project • Observation zk = Gauss-Newton(Accel, Mag) • Process noise covariance Q obtained from datasheet • Measurement noise covariance R is assumed small, 0.001xI(4)

  44. Sampling One sample every 40ms Timer interrupt

  45. Display Labview decoder

  46. Matlab 3D plot Convert from Euler angle into 3D vector Roll data not displayed

  47. System Performance • Kalman Filtered output • Output before Filtering

  48. TWI performance Glitchy Different low voltage level for slave but it worked well

  49. Algorithm performance Sampling time: 40 ms TWI delay 1ms Algorithm delay: 21.4 ms

  50. Future work Add Calibration function Improve algorithm with fix point calculations

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