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STEVI: Sensory Technology Enhancement for the Visually Impaired. 10/20/2009. Comprehensive Design Review. Team Vouvakis. Electrical and Computer Engineering. The Problem. The visually impaired can not navigate without assistance. Cane People The Guide Dog. - PowerPoint PPT Presentation
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SDP Presentation 1
STEVI: Sensory Technology Enhancement
for the Visually Impaired
10/20/2009
Comprehensive Design Review
Alex Starosielski Ultrasonic Sensing Web-Developer
Brendan Gavin Laser Sensing Treasurer
Charbel Kobrianos Laser Sensing Team Administrator
Yi Lin Ultrasonic Sensing Slide Developments
Team Vouvakis
Electrical and Computer Engineering
SDP Presentation 2Electrical and Computer Engineering
The Problem
The visually impaired can not navigate without assistance.
•Cane
•People
•The Guide Dog
Solution - STEVI
3Electrical and Computer Engineering SDP Presentation
SDP Presentation 4Electrical and Computer Engineering
CDR Deliverables
Demonstration of Ultrasonic Detection• Range and Direction up to 4m (Non-Stationary)• Vibrating motors with microcontroller
Demonstration of Laser Detection• Laser and Camera • Microcontroller Processing • Vibrating Motors with microcontroller
SDP Presentation 5Electrical and Computer Engineering
Previously Proposed FDR - Block Diagram
SDP Presentation 6Electrical and Computer Engineering
FDR Proposed Deliverables – Block Diagram
SDP Presentation 7Electrical and Computer Engineering
UDS Design Modifications from MDR
MDR Design: 4x Maxbotix UT
CDR Design: 2x Maxbotix LV-EZ4
Transducers
Reason for Change: • Previously 4 used (2 Transmit, 2 Receive) Currently pre-assembled transducers on chip can both transmit and receive.• On chip microcontrollers compute distance for individual transducers.
SDP Presentation 8Electrical and Computer Engineering
Microcontroller Operation
• Synchronizes transducer operation.
• Receives distance from transducers & LDS.
• Controls Feedback operation.
• Switched between LDS & UDS mode.
FPR Goals:
• Directionality in UDS module.
• Range of UDS & LDS simultaneously.
SDP Presentation 9Electrical and Computer Engineering
User Feedback System (Vibrating Motors)
• Tactile feedback controlled by dsPIC.
• Decreasing distance to obstacle increases frequency of vibrating pulses (2/sec at max range, 20/sec at min range.
• FPR Goal: Allow for feedback of direction to obstacle.
SDP Presentation 10Electrical and Computer Engineering
UDS Test & Analysis: Range Error
•Goal: 15cm – 4m range
•Achieved: 15cm – 4m range
•Limitation: Range error significant for longer distances
•Solution: Modify programming to account for error at long ranges
Range Error (Human Target)
-15-10-505
101520253035
0 100 200 300 400
Measured Distance (cm)
Err
or
(cm
)
Dmin-D
Dmax-D
Range Error (5cm Wide Pole)
-20
-10
0
10
20
30
40
0 100 200 300 400
Measured Distance (cm)
Err
or
(cm
)
Dmin-D
Dmax-D
SDP Presentation 11Electrical and Computer Engineering
UDS Test & Analysis: Lateral Detection Error
•Goal: Detect obstacles within 20º of direction of travel (5cm wide pole used for tests)
•Achieved: 26º beam angle at 50cm, 17º beam angle at 100cm, 10º beam angle at 200cm, 8º beam angle at 300cm, 5º beam angle at 400cm
•Limitation: Small obstacles difficult to detect at long ranges
Lateral Detection
0
50
100
150
200
250
300
350
400
450
-50 -30 -10 10 30 50
S (cm)D
ista
nce
to
Po
le (
cm)
Detected
No Detection
SDP Presentation 12Electrical and Computer Engineering
UDS Test & Analysis: Obstacle Size Limitation
Goal:
•Detect object with 25cm2 CSA at all ranges up to 400cm
Achieved:
• 9cm2 object up to 200cm
• 16cm2 object up to 340cm
• 25cm2 object at all ranges
CSA (cm2) Max Range (cm)
9 200
16 340
25 400
36 400
49 400
64 400
81 400
100 400
CSA: Obstacle Cross Sectional Area
SDP Presentation 13Electrical and Computer Engineering
LDS Algorithm
Algorithm same as from MDR:
• Find brightest pixel in camera’s vision
• Use y-coordinate of pixel to calculate distance
SDP Presentation 14Electrical and Computer Engineering
LDS Design Modifications from MDR
Reason for Change:
• USB camera excessively difficult to integrate with electronics.
• New camera small enough for device housing.
Camera
MDR Design: Logitech USB 2.0 MP Camera
CDR Design: Camera Mod C3188A-6018
SDP Presentation 15Electrical and Computer Engineering
LDS Design Modifications from MDR (Cont.)
Reason for Choice:
• CPLD can easily take data synchronously from camera
MDR Design: Matlab
CDR Design: CPLD
Camera Data Processing
SDP Presentation 16Electrical and Computer Engineering
LDS Design Modifications from MDR (Cont.)
Reason for Choice:
• Ease of use for floating point calculations and data transmission
MDR Design: Matlab
CDR Design: ATMEGA32 16PU
Processing Unit
LDS Test & Analysis: Experimental Data
•Goal: Detect distance to obstacles up to 3 meters
•Achieved: Detection of light-colored obstacles between 0.6 and 2.1 meters
Measured vs. Calculated Error
0
1
2
3
4
5
6
Target Distance (cm)
Err
or
(cm
)
Measured Error
Calculated Error
Ideal vs. Experimental Measurements
0
50
100
150
200
250
Target Distance (cm)
Mea
sure
d D
ista
nce
(cm
)
Ideal
Experimental
LDS Test & Analysis: Quantization Error
•Goal: Reduce Quantization error
•Solution: Increase laser-camera separation distance (w)
•Limitations: Increases smallest detection distanceCalculated Quantization Error Comparison
0
2
4
6
8
10
12
1.000 13.000 25.000 37.000 49.000 61.000 73.000 85.000 97.000 109.000 121.000 133.000 145.000 157.000 169.000 181.000 193.000
Target Distance (cm)
Err
or
(cm
)
w =2 cm
w =8 cm
SDP Presentation 19Electrical and Computer Engineering
Laser Safety
• Safety issue: device pointed parallel with ground poses laser hazard
•Plan to use three tilt sensors to account for multiple possible orientations of device
• Currently working on circuit to prevent tilt sensor activation due to shock or suddent movement
SDP Presentation 20Electrical and Computer Engineering
Updated Power Consumption
Item Voltage (V) Current (I) P (watts)
camera 0.120000
laser 0.000400
cpld 3.300000 0.030000 0.099000
AVR uC 5.000000 0.009000 0.045000
dsPIC uC 5.000000 0.009000 0.045000
motor 1 3.000000 0.075000 0.225000
motor 2 3.000000 0.075000 0.225000
transducer 1 5 0.002 0.010000
transducer 2 5 0.002 0.010000
Total: 0.779400 W
Estimated power consumption reduced, but close to original calculation of 0.8 W.
SDP Presentation 21Electrical and Computer Engineering
Weight Estimate
Component # of components Weight (g)
Misc 22 51.65
Camera 1 15.2
Battery 1 110
Housing 1 60
Optical Filter 1 5.1
Laser Diode 1 7.3
Total Weight 249.25
STEVI will weigh less than 2 Blackberrys
=
SDP Presentation 22Electrical and Computer Engineering
Current Budget Update
Date Item QTY Unit Price Total Price
10/27/2009 ATMEGA88PA-PU-ND microcontroller 0 2.69 0.00
Ultrasonic Transducer - Maxbotix UT 2 4.95 9.90
Vibration Motor ROB-08449 2 7.95 15.90
5.0 megapixel webcam 1 7.95 7.95
laser diode 1 7.5 7.50
0.00
11/12/09 laser diode 2 7.5 15.00
11/13/2009 Ultrasonic Transducer - Maxbotix UT 4 4.95 19.80
11/17/2009 bandpass filter 1 37.5 37.50
1/25/2010 serial cmos camera 1 56.95 56.95
2/18/2010 laser diode 2 7.5 15.00
dsPIC30F4011 20E/P 2 5.16 10.32
tilt ball switch 6 2 12.00
Budget: 500.00
Expenditure to date: 207.82
Remaining Funds: 292.18
SDP Presentation 23Electrical and Computer Engineering
Summary and Look AheadSummary:
• Better ultrasonic sensor detection
• Successful breadboard integration of STEVI prototype
FPR Deliverables:
• Final STEVI prototype
• Sensor fusion algorithm (s) (Implemented in dsPIC)
• PCB + housing + sensors + power system
Range Accuracy
UDS 4 m < 11%
LDS 2 m < 5%
SDP Presentation 24Electrical and Computer Engineering
Updated Gantt Chart
SDP Presentation 25Electrical and Computer Engineering
SDP Presentation 26Electrical and Computer Engineering
UDS Prototype
Control Circuitry Detection/Feedback System
SDP Presentation 27Electrical and Computer Engineering
LDS Camera-Laser Separation Testing
Pixel Difference: 3 cm vs. 8cm Separation
0
5
10
15
20
25
0.406 0.508 0.61 0.711 0.813 0.914 1.016 1.118 1.219 1.321 1.422 1.524 1.626 1.727 1.829 1.93 2.032 2.134
Target Distance (m)
Pix
el D
iffe
ren
ce
w =8 cm
w =3 cm
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