Blake Davis: Electrical Engineering Luke Haberkern: Electrical and Computer Engineering Brian Hacsi: Electrical and Computer Engineering Chris Kircher: Electrical and Computer Engineering

Project Overview Glove capable of encoding hand motions into generic instructions Vehicle with controllable camera that can travel via Bluetooth communication using instructions from glove

System Block Diagram MSP430 Microcontroller Accelerometers Flex Sensors Force Sensors Host Computer Bluetooth Module Glove ADC Processing Battery PWM Motor Controllers IR Obstacle Avoidance PWM Camera Controllers Bluetooth Module Vehicle MSP430 Microcontroller Processing ADC Camera Video Battery (two) Battery

The Glove

Block Diagram MSP430F169 Microcontroller MMA7260Q Triple Axis Accelerometers 4.5 inch Flex Sensors.2 inch Force Sensors Bluetooth SMD module- Roving Network Glove Internal Analog to Digital Converter Packet Creation (Voltage reading, sensor identification) Lithium Ion 3.3V Battery Multiplexer

Accelerometers MMA7260Q Triple Axis Accelerometers located on the base of the wrist and the top of the hand. X axis voltage range ~.8V to ~2.4V (90 degree rotation left to 90 degree rotation right) Y axis voltage range ~.8V to 2.4V (90 degree rotation backward to 90 degree reotation forward) Z axis voltage range ~1.6V to ~3.2V (downward/upward motion of the hand)

Flex Sensors 4.5 inch Flex Sensors for each digit of the glove. Connected to MSP430F169 using voltage divider circuit Max voltage swing ~23% using 15k resistor (R value calculated using excel spreadsheet) of ~.8V.

Flex Sensors Schematic

Force sensors One located at the end of each digit on the glove Will be sent as a “high” or “low” output (pressed/unpressed) Simple voltage divider with 18K ohm resistor to lower impedance

Analog to Digital Conversion Eight A/D inputs for sixteen sensors Multiplexers

Code Flow Initialize UARTS, ADC, and timers Establish RS232 connection Enable accelerometers, timer, and ADC Poll 8 sensors Process/Transmit Data and re- enable ADC Switch MUX outputs and disable ADC Power on

Processing Convert force sensor readings to on/off Compress other sensors from 12 bit resolution to 4 bit resolution Allows all data to be sent in one byte 4 least significant bits sensor state 4 most significant bits sensor identification Data loss risk reduced

Data Transfer—RS232/Bluetooth Initially RS232 wired data transfer Between Milestone 1 and 2, transition to Bluetooth networking

PCB

The Car

Block Diagram PWM Motor Controllers Sharp gp2d12 IR sensors PWM Camera Controllers Bluetooth SMD module- Roving Network Vehicle MSP430 Microcontroller Packet deconstruct ion, output Internal Analog to Digital Converter Compact Wireless-G Internet Video camera Video Lithium Ion 7.2V Battery (two) Lithium Ion 3.3V Battery Dissipation protection circuit

Physical construction Stainless 16 gauge steel sheet metal Chassis platforms Camera mount Aluminum Motor Boxes Wheels 8” Rubber treaded 2” Ball Casters DC motors 7.2V 444RPM 206oz-in Planetary Gearmotor 7.2V Lithium Ion Batteries

PWM Send a series of digital pulses with varying duty cycles based on the Bluetooth packets Speed and turn radius determined by the width and frequency of each pulse

IR Sensors and ADC Sharp gp2d12 Fail-safe control interrupt Convert IR sensors to digital signal If within 24 inches of an object, send stop interrupt If no object detectable, do nothing Avoid running into people and other obstacles

Power Protection Circuit Motors and camera mount Lithium Ion 7.2V battery V ref

PCB

Camera

Inputs Processing Output Pan and Tilt angle MSP430 from vehicle Bluetooth module from vehicle Block Diagram

Goals 1 st milestone Glove completely built Glove can provide output via RS232 Vehicle completely built Vehicle can take inputs via RS232 Collision protection 2 nd milestone RS232 replaced by Bluetooth Vehicle glove integration Camera controller to camera integration Collision interrupt Expo Complete camera and vehicle control using glove input User friendly interface

Timeline

Division of Labor BlakeChrisLukeBrian Glove Glove MCU Coding XX AccelerometerX Flex sensorX Force sensorX PCBX PowerXX Glove ConstructionXX Vehicle Vehicle MCU CodingXX Vehicle construction X X PCB designX PWM XX IR sensors XX Camera Camera interface X Camera tilt and pan control XX Camera controllerXX Controller constructionXX Network/Bluetooth Glove to VehicleXXXX Camera controller to cameraXXXX Testing and Debugging GloveXX Vehicle XX CameraXXXX IntegrationXXXX Documentation UROP/EEFXX Preliminary User's Manual XX Final Technical ReferenceXXXX User's ManualXXXX

Budget DescriptionUnitsCost Per UnitTotal Cost Gloves Triple Axis Accelerometer MMA7260Q3$19.95$59.85 Force Sensor.2"5$5.70$28.50 Flex Sensor 4.5"5$11.66$58.30 MSP430F169 development board2$40.95Donated MSP430F169 Microcontroller1$10.00Sampled Bluetooth SMD Module - Roving Networks2$59.95$ Half Arm Gloves (Pair)1$6.00 Electronics protection1$10.00 Battery1$40.00Donated PCB1$30.00 Rover PCB1$30.00 MSP430F169 microcontroller1$10.00Sampled Bluetooth SMD Module - Roving Networks1$34.95 MP-101 Pan and Tilt motorized platform1$ Analog IR Distance Sensor4$12.50Donated 7.2V 444RPM 206oz-in Planetary Gear Motor2$30.95$ ” rubber treaded wheels2$49.00Donated Hubs2$8.00$16.00 Sheetmetal1$25.00 Ball Casters2$9.54$19.08 Batteries2$80.00Donated Miscellaneous Miscellaneous parts1$ Total $734.47

Risks and Alternatives Bluetooth/RS232 Unfamiliar technology Losing information in data transfer Sensor resolution too low Camera Unsure about pan/tilt control Sensors Noise Voltage spikes Schedule Uncertainty Due to the level of unfamiliar technology in this project, our schedule is very tentative

Questions?

Camera/mount Tilt-Internet-IP-Camera--Webcam-YP _p56061.html Tilt-Internet-IP-Camera--Webcam-YP _p56061.html