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SWARM Extreme  ,[object Object],Baturalp Torun,[object Object],baturalp@gmail.com,[object Object],Jitendra Bothra,[object Object],jitendrabothra@gmail.com,[object Object],Course:  CS7780 - Special Topics in Networks,[object Object],Guide: Prof. Guevara Noubir (noubir@ccs.neu.edu),[object Object],College of Computer and Information Science ,[object Object],Northeastern University,[object Object],April 2011,[object Object]
Agenda,[object Object],Hardware Used,[object Object],A R Drone,[object Object],Emotiv EPOC,[object Object],Similar Works,[object Object],Our Objective,[object Object],Approach,[object Object],Design ,[object Object],Problems ,[object Object],Future Enhancements,[object Object],Conclusion,[object Object],PAGE 2,[object Object]
A. R. Drone Technical Details,[object Object],Embedded computer system,[object Object],ARM9 processor, 128MB RAM, Wi-Fi b/g, USB, Linux OS,[object Object],Inertial guidance systems,[object Object],3 axis accelerometer,[object Object],2 axis gyro-meter,[object Object],1 axis yaw precision gyro-meter,[object Object],Specs:,[object Object],Speed: 5m/s; 18km/h,[object Object],Weight: Less than 1 pound,[object Object],Flying time ~12 mins.,[object Object],Ultrasound altimeter,[object Object],Range: 6 meters – vertical stabilization,[object Object],Camera,[object Object],Vertical high speed camera: up to 60 fps – allows stabilization,[object Object],PAGE 3,[object Object]
Emotiv EPOC headset tech specs,[object Object],Based on EEG, 14 sensors – positioned for accurate spatial resolution,[object Object],Detecting facial expressions are very fast (<10ms),[object Object],Wireless chip is proprietary and operates on  frequency 2.4GHz,[object Object],Hacked to use via Python,[object Object],https://github.com/daeken/Emokit/blob/master/Announcement.md,[object Object],https://github.com/daeken/Emokit,[object Object],PAGE 4,[object Object]
Similar Works,[object Object],http://dsc.discovery.com/videos/prototype-this-mind-controlled-car.html,[object Object],http://www.autonomos.inf.fu-berlin.de/subprojects/braindriver,[object Object],http://sensorlab.cs.dartmouth.edu/pubs/neurophone.pdf,[object Object],http://www.engadget.com/2011/02/19/german-researchers-take-mind-controlled-car-for-a-carefully-cont/,[object Object],PAGE 5,[object Object]
Our Goal,[object Object],Our goal is to control the A R Drone using thoughts via Emotive EPOC ,[object Object],Control the A.R. Drone using Computer,[object Object],Get the commands from Emotiv EPOC and process those,[object Object],Design an architecture to connect both and is extendable to incorporate multiple devices.,[object Object],Establish connections and fine tune the data for smooth controlling,[object Object],PAGE 6,[object Object]
Our Approach,[object Object],Map headset signals to reasonable commands,[object Object],Create a channel between the commands from headset interface and A. R. Drone,[object Object],client/server architecture,[object Object],allows us to control multiple A. R. Drones remotely,[object Object],programs  can be extended to run on different environments,[object Object],PAGE 7,[object Object]
Design (Server),[object Object],Provided by Emotiv,[object Object],PAGE 8,[object Object],Emotiv,[object Object],Connect,[object Object],Emo Composer,[object Object],Configurations,[object Object],Server,[object Object],Mappings,[object Object],Emo Engine,[object Object],Core,[object Object],Emotiv,[object Object],EPOC,[object Object]
Design (Client),[object Object],PAGE 9,[object Object],SWARM ,[object Object],CLIENT,[object Object],(updates every 500ms),[object Object],Virtual ,[object Object],Input ,[object Object],Device,[object Object],(updates every 20ms),[object Object],Win32 ,[object Object],A R Drone ,[object Object],Controller,[object Object],Buffer,[object Object],Quad-copter,[object Object]
Problems,[object Object],Emotive SDK is platform dependent,[object Object],Headset sends many signals,[object Object],States change very rapidly – causes noisy interstates,[object Object],Training requires to focus and not interchangeable from person to person,[object Object],There is no universal training method to get same results,[object Object],PAGE 10,[object Object]
Future Enhancements,[object Object],Current System:,[object Object],Enhance the system to connect with multiple clients,[object Object],Enable the system to work remotely via Internet,[object Object],Client could be made more intelligent in order to handle emergency situations,[object Object],Long Term:,[object Object],The technology could be used to control devices which we used in daily routine, like cars, phones, other electronics etc. ,[object Object],On long run the EEG devices could be improved to a level where controlling devices will become as natural as controlling once body parts.,[object Object],PAGE 11,[object Object]
Conclusion,[object Object],We are able to fully control the A R Drone using earlier by facial expression and gyro-meter and later by only using the cognitive commands. Given time this system could be future enhanced to control multiple devices simultaneously with a higher accuracy.,[object Object],The available technology for reading and processing the thoughts is pretty good to control a system with limited command set, but it needs a lot of improvement in order to be used for complex systems.,[object Object],Great learning experience,[object Object],PAGE 12,[object Object]

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