Handyman pdr

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Text of Handyman pdr

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

2. 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

3. Purpose of the Glove 4. Purpose of the Vehicle

  • Fully controllable vehicle using Bluetooth inputs to specify and direct speed, direction and a camera.
  • Simple obstacle avoidance

5. System Block Diagram Gloves Vehicle MSP430 Microcontroller PWM Motor Controllers PWM Camera Controllers IR Obstacle Avoidance Accelerometers Flex Sensors Force Sensors MSP430 Microcontroller Bluetooth Module Video Feed Host Computer Bluetooth Module 6. Real World Applications 7. The Glove 8. Block Diagram 9. Accelerometers

  • MMA7260Q Triple Axis Accelerometers located on the base of the wrist and the top of the hand.
  • By comparing accelerometer outputs from each, we will be able to effectively deal with ambient movement by the person controlling

10. Flex Sensors

  • 4.5 inch Flex Sensors for each digit of the glove.
  • Act as variable resistors with
    • Straight (unflexed) resistance: ~9000 Ohm
    • 90 degree bend resistance: ~14000 Ohm
    • 180 degree bend resistance : ~22000 Ohm

11. Force sensors

  • One located at the end of each digit on the glove
    • Allows for additional user inputs for further control

12. Custom Designed PCB

  • Bluetooth SMD Module - Roving Networks
  • MSP430F169
  • Inputs from accelerometers, flex and force sensors

13. The Car 14. Block Diagram 15. Physical construction

  • Sheet metal
    • Chassis
    • Camera mount
  • Wheels
    • Polyolefin Hub Moldon Wheel 8
    • 2 Ball Casters
  • DC motors
    • 7.2V 444RPM 206oz-in Planetary Gearmotor
  • Power System

16. IR Sensors

  • Sharp gp2d12
  • Fail-safe control interrupt
    • Avoid running into people and other obstacles

17. Vehicle Controller

  • Custom designed PCB
    • Bluetooth inputs for camera panning and rotation output
    • Bluetooth inputs to PWM output for motor control
    • IR sensor interrupt handler
    • MSP430F169 microcontroller

18. Camera Linksys Camera Pan and Tilt Platform 19. Block Diagram 20. Goals

  • CDR
    • PCBs designed, Vehicle built, sensor reading
  • 1 stmilestone
    • Glove can provide output via Bluetooth
    • Vehicle can take inputs via Bluetooth
    • Collision protection
  • 2 ndmilestone
    • Vehicle glove integration
    • Camera controller to camera integration
    • Collision interrupt
  • Expo
    • Complete camera and vehicle control using glove input
    • User friendly interface

21. Timeline 22. Division of Labor Blake Chris Luke Brian Glove Glove MCU Coding X AccelerometerX Flex sensor X Force sensor X PCBX X X X Power X X Glove Construction X X Vehicle Vehicle construction X PCB design X X X X PWM X X IR sensors X X Collision interrupt X Camera Camera interface X Camera tilt and pan control X X Camera controller X X Controller construction X X Network/Bluetooth Glove to Vehicle X X X X Camera controller to camera X X X X Testing and Debugging Glove X X Vehicle X X Camera X X X X Integration X X X X Documentation UROP/EEF X X Preliminary User's Manual X X Final Technical Reference X X X X User's Manual X X X X 23. Budget Description Units Cost Per Unit Total Cost Gloves Triple Axis Accelerometer MMA7260Q 5 $19.95$99.75 Force Sensor .2" 10 $5.70$57.00 Flex Sensor 4.5" 10 $11.66$116.60 MSP430F169 development board 3 $40.95$122.85 Bluetooth SMD Module - Roving Networks 3 $34.95$104.85 Half Arm Gloves (Pair) 2 $42.95$85.90Battery 1 $40.00 Donated PCB 2 $30.00$60.00Rover PCB 1 $30.00$30.00 MSP430F169 microcontroller 1 $10.00$10.00 Bluetooth SMD Module - Roving Networks 1 $34.95$34.95 MP-101 Pan and Tilt motorized platform 1 $124.99$124.99 Analog IR Distance Sensor 4 $12.50$50.00 DC Motors 2 $30.95$61.90 Wheels 2 $49.00$98.00 Hubs 2 $8.00$16.00 Sheetmetal 1 $50.00$50.00 Ball Casters 2 $9.54$19.08Batteries 2 $80.00 Donated Miscellaneous Miscellaneous parts 1 $400.00$400.00 Total $1,541.87 24. Future Aspirations

  • Glove
    • Portability
  • Vehicle
    • Robotic arm
    • Hazard control for communication loss
    • On-board diagnostics
    • Output voice
  • Camera
    • Output to portable screen (helmet system)
    • 360 degree panning ability
  • Network
    • Long range (Perhaps 3G or EDGE)

25. Risks and Alternatives

  • Unfamiliar technology
    • Bluetooth
      • Wired communication
    • Microcontrollers (MSP430)
      • LabView interface
    • PCBs
  • Schedule Uncertainty
    • Due to the level of unfamiliar technology in this project, our schedule is very tentative

26. Questions?