Blake Davis: Electrical EngineeringLuke Haberkern: Electrical and Computer EngineeringBrian Hacsi: Electrical and Computer EngineeringChris Kircher: Electrical and Computer Engineering

Project OverviewGlove 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 MicrocontrollerAccelerometers

Flex Sensors

Force Sensors

Host ComputerBluetooth

Module

Glove

ADC Processing

Battery

PWM Motor Controllers

IR Obstacle Avoidance

PWM Camera Controllers

Bluetooth Module

VehicleMSP430 Microcontroller

Processing

ADC Camera

Video

Battery (two)Battery

The Glove

Block Diagram

MSP430F169 MicrocontrollerMMA7260Q 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

Mu

ltiple

xer

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)

0 0.5 1 1.5 2 2.5 30.8

1

1.2

1.4

1.6

1.8

2

2.2

2.4

2.6Accelerometer X-Axis Test

Vol

tage

Time0 0.5 1 1.5 2 2.5 3

0.5

1

1.5

2

2.5

3Accelerometer Y-Axis Test

Voltage

Tim

e

0 0.5 1 1.5 2 2.5 31.6

1.8

2

2.2

2.4

2.6

2.8

3

3.2

3.4

3.6Accelerometer Z-Axis Test

Vol

tage

Time

Flex Sensors4.5 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.

0 0.5 1 1.5 2 2.5 31.3

1.4

1.5

1.6

1.7

1.8

1.9

2

2.1Flex Sensor Test (Index Finger)

Time

Vol

tage

Flex Sensors Schematic

Force sensorsOne located at the end of each digit on the

gloveWill be sent as a “high” or “low” output

(pressed/unpressed)Simple voltage divider with 18K ohm resistor

to lower impedance

0 0.5 1 1.5 2 2.5 30

0.5

1

1.5

2

2.5

3Force Sensor Test

Time

Vol

tage

Analog to Digital ConversionEight A/D inputs

for sixteen sensorsMultiplexers

Code Flow

Initialize UARTS, ADC,

and timers

Establish RS232

connection

Enable accelerometers, timer, and

ADC

Poll 8 sensorsProcess/

Transmit Data and re-enable

ADC

Switch MUX outputs and disable ADC

Power on

ProcessingConvert force sensor readings to on/offCompress other sensors from 12 bit

resolution to 4 bit resolutionAllows 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/BluetoothInitially RS232 wired

data transferBetween 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 deconstruction, output Internal

Analog to

Digital Converte

r

Compact Wireless-G Internet Video camera

Video

Lithium Ion 7.2V Battery (two)Lithium Ion 3.3V Battery Dissipation

protection circuit

Physical constructionStainless 16 gauge steel sheet metal

Chassis platformsCamera mount

AluminumMotor Boxes

Wheels8” Rubber treaded2” Ball Casters

DC motors7.2V 444RPM 206oz-in Planetary Gearmotor

7.2V Lithium Ion Batteries

PWMSend a series of digital pulses with varying

duty cycles based on the Bluetooth packetsSpeed and turn radius determined by the

width and frequency of each pulse

IR Sensors and ADCSharp gp2d12Fail-safe control

interruptConvert 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

Moto

rs an

d ca

mera

mou

nt

Lit

hiu

m I

on

7.2

V b

att

ery

Vref

PCB

Camera

Block Diagram

Goals1st milestone

Glove completely builtGlove can provide output via RS232Vehicle completely built Vehicle can take inputs via RS232Collision protection

2nd milestoneRS232 replaced by BluetoothVehicle glove integrationCamera controller to camera integrationCollision interrupt

ExpoComplete camera and vehicle control using glove inputUser friendly interface

Timeline

Division of Labor Blake Chris Luke BrianGlove        Glove MCU Coding  X X    Accelerometer X      Flex sensor X      Force sensor X      PCB XPower X X    Glove Construction X X    Vehicle        Vehicle MCU Coding X XVehicle construction     X  XPCB design XPWM      X XIR sensors     X XCamera        Camera interface     X  Camera tilt and pan control     X XCamera controller X X    Controller construction X X    Network/Bluetooth        Glove to Vehicle X X X XCamera controller to camera X X X XTesting and Debugging        Glove X X    Vehicle     X XCamera X X X XIntegration X X X XDocumentation        UROP/EEF X X    Preliminary User's Manual     X XFinal Technical Reference X X X XUser's Manual X X X X

Budget Description Units Cost Per Unit Total Cost

Gloves

Triple Axis Accelerometer MMA7260Q 3 $19.95 $59.85

Force Sensor .2" 5 $5.70 $28.50

Flex Sensor 4.5" 5 $11.66 $58.30

MSP430F169 development board 2 $40.95 Donated

MSP430F169 Microcontroller 1 $10.00 Sampled

Bluetooth SMD Module - Roving Networks 2 $59.95 $119.90

Half Arm Gloves (Pair) 1 $6.00 $6.00

Electronics protection 1 $10.00 $10.00

Battery 1 $40.00 Donated PCB 1 $30.00 $30.00

Rover   PCB 1 $30.00 $30.00

MSP430F169 microcontroller 1 $10.00 Sampled

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 Donated

7.2V 444RPM 206oz-in Planetary Gear Motor 2 $30.95 $61.90 8” rubber treaded wheels 2 $49.00 Donated

Hubs 2 $8.00 $16.00 Sheetmetal 1 $25.00 $25.00 Ball Casters 2 $9.54 $19.08

Batteries 2 $80.00 DonatedMiscellaneous

  Miscellaneous parts 1 $100.00 $100.00 Total $734.47

Risks and AlternativesBluetooth/RS232

Unfamiliar technologyLosing information in data transferSensor resolution too low

CameraUnsure about pan/tilt control

SensorsNoiseVoltage spikes

Schedule UncertaintyDue to the level of unfamiliar technology in this

project, our schedule is very tentative

Questions?

Camera/mounthttp://www.lightinthebox.com/Wireless-MPEG

4-Pan-Tilt-Internet-IP-Camera--Webcam-YP-06094-_p56061.html