Good Evening. This evening Loren Schwappach, Dan Wehnes and myself, Tom Thede, will present the Wanderlink Glove project. This project is primarily focused on providing a human interface device, a glove that will remote control a robotic arm to function in an environment deemed hazardous to humans.
The purpose of the Wanderlink Glove Project is shown: To engineer an innovative, multi-use, portable, light-weight, ergonomic glove-like human interface device. Touch points will be added along with the capability to detect three-dimensional motion. By using touch points, the glove will allow the user to remote control the robotic arm.
This list shows a top-level overview of expected functions of the Wanderlink Glove and the different components it will contain.
As an overview for the remainder of the presentation, Loren Schwappach will cover the initial design concept, potential contracts/applications, general requirements and expected operations of the Wanderlink Glove to include a black box diagram of the system. I will then cover the system specifications to define the expected values needed to meet system requirements and identify the critical characteristics for our portion of the design effort. Dan Wehnes will finish up the presentation by addressing our acceptance procedures and provide final conclusions. Questions will be addressed as they occur with a final opportunity at the end of the presentation. A list of references is provided at the end to identify the sources for the information provided.
Above are some initial concept designs and feature layouts for the Wanderlink Glove.
This is a list of general requirements for the Wanderlink Glove.
This is a lost of general glove operations, conditions, and expected output for multiple glove operations.
This is a rough black box diagram of the Wanderlink Glove.
For a complex device like the Wanderlink Glove, there a number of system specifications required. The system specifications for the Wanderlink Glove are shown in the next several slides to include the requirement, a description and expected values for each specification and are not meant to be all inclusive at this point in the design process. The first requirement is a light-weight, portable, power supply that must provide 3.7 Volts to power all glove electronics for a minimum time of eight hours. The expected values for the power supply based on market research are a power density of 185 Watt-hours/kilogram and a weight under one half pound. Available lithium-polymer technology batteries will satisfy these requirements. The second requirement is a realistic movement tracking system that monitors motions with six degrees of tracking including the X, Y, Z, Yaw, Pitch, and Roll. To provide this capability, the glove will provide six eight-bit outputs to the CPU every 500 milliseconds. The third requirement is to provide temperature sensing, as a safety feature, to ensure the glove powers down when it exceeds a predetermined temperature to avoid injury to the user. This will be done by the speaker giving a warning signal to the user via the speaker. To monitor the temperature, the glove will provide a six bit output to the CPU every 500 milliseconds. The glove must be synchronized with the robotic arm, which will require driver software.
The fifth requirement are the electro-min-pressure bubbles that provide fingertip texture simulation for reading Braille. The expected values for this requirement are 24 bits for each finger or a total of 96 bits every 10 milliseconds with user controls to vary the reading speed. The sixth requirement is a 10 Megapixel optic/camera that can scan an 8.5 by 11 inch page with text sizes from 6 to 24 point for text conversion and high definition (1080 pixels) video recording. The expected values are a high (GB range) output to the CPU/transmit unit at a minimum of 30 FPS.
Taking the system specifications, our design team will focus on the following critical characteristics when developing a logic gate that will be utilized in the design of the Wanderlink Glove. Our most important critical design characteristics is a clock speed of at least 2 GHz with clean digital pulse that have minimal rise times, fall times and propagation delays. Expected values for these delays are in the nanosecond range. The logical must minimize power usage to handle the expected large number of devices with usage expected less than 2 microamps per gate. This value will keep the power utilization down to one amp for 500,000 devices. The logic gate must be small in size to meet the weight and size restrictions of the glove and have a high noise immunity so it can be used in an environment with other electrical devices. To provide reliable operations, the glove must be resistant to electrostatic discharge and be durable enough to handle operation by people of various ages. Dan Wehnes will now go over our design team’s acceptance plan; discuss our design’s strengths, weaknesses, opportunities and threats; and provide final conclusions.
Extreme conditions such as below freezing, desert environment, low humidity, high humidity.
The power supply must be able to drive all the sensors and pressure bubbles properly.
The glove is designed to be modifiable for many applications. The most current focus is the text to braille application.
Are there any final questions on the design of the Wanderlink Glove Project?
References:Batteries Wholesale, Capacity VS Weight. Retrieved 29 October 2011 from: http://www.batterieswholesale.com/capacity_weight.htmHEV Vehicle Battery Types,n.d., Retrieved 13 October 2011 from ThermoAnalyticsWebsite:http://www.thermoanalytics.com/support/publications/batterytypesdoc.htmlP5 Virtual Reality Glove, n.d., Retrieved 13 October 2011 from:http://www.vrealities.com/P5.htmlPeregrine Glove, n.d., Retrieved 13 October 2011 from:http://theperegrine.com/product/All About Batteries for Your Project, n.d., Retrieved 13 October 2011 from:http://www.ladyada.net/library/batteries.htmlBattery Life,n.d., Retrieved 13 October 2011 from Climber.org Website:http://www.climber.org/gear/batteries.html
Ee660 ex 21_presentation_wanderlink_glove_all
Dan Wehnes, Loren Schwappach, Tom Thede Wanderlink EE660: Modern Solid State Devices 17 November 2011 1
Engineer an innovative, portable, light-weight, ergonomic glove-like human interface device to remote control a robotic arm to function in a hazardous environment such as: Steel mill Nuclear power plant The Wanderlink Glove will initially: Provide simple manual controls Provide a portable, rechargeable power source Be able to communicate using RF with other electronic devices Provide pressure simulation for the hand and fingers For this application, the Wanderlink Glove will: Provide touch points at multiple locations throughout the glove Monitor three-dimensional motion of the glove and its fingers 2
The Wanderlink Glove will be able to and contain: Electro-mini-pressure bubbles for pressure simulation Monitor finger position/bending Monitor realistic motion with 6 degrees of tracking (X, Y, Z, Yaw, Pitch, and Roll) 12 durable, programmable, user-adjustable, sensing, touch points 4 depressible buttons (Power, Confirm, Deny, Next) for controlling the glove A high bandwidth swappable RF TX/RX unit for communicating with computers and other electronic devices Swappable and reprogrammable CPU/controller Separate rechargeable battery unit to power the glove 3
Wanderlink Glove Initial Design Concept General Requirements Operation (What is Expected) ▪ Black Box Diagram Specifications / Expected Values Logic Gate Critical Characteristics Acceptance Plan Conclusions 4
Programmable, user- High bandwidth swappable RF TX/RX adjustable, sensing touch points unit Throughout the glove: Electro-mini-pressure bubbles to simulate pressure On cuff of glove: 4 depressible buttons(Power, Confirm, Deny, Next) for Swappable, upgradeable and controlling the glove reprogrammable CPU/controller Attached to glove externally: Inside of glove: Small, lightweight, portable 6-axis realistic motion detection rechargeable battery device 5
Conditions (User): Conditions (the CPU/controller module): Programs CPU/controller module Takes in program updates Puts on glove Presses “power” button inward (battery is Powers up / initializes / checks calibration charged) Turns on/checks all glove electronics Checks for external device signals Shows User Battery Remaining User calibrates glove and synchronizes it with Audio signal indicates the glove has been the robotic arm calibrated Receives instructions, relays chosen choices Begins robotic arm control to CPU using confirm/deny/next buttons Uses glove as required Receives signals from glove electronics Checks user sensing touch points (Every 500ms) Checks confirm/deny/next buttons Outputs data to high BW TX unit (external devices) Robotic arm moves accordingly Presses “Power” button again Powers off glove electronics 7
Attached to glove: High bandwidth Small, lightweight, portable swappable RF TX/RX unit battery Audio out TX unit On cuff of glove: 4 depressible buttons Swappable, upgradeable and reprogrammable External devices(Power, Confirm, Deny, Next) for controlling the glove CPU/controller Computer Robotic arm Major IC Characteristics Programmable, user- Fast Switching Minimum Power Usage adjustable, sensing touch points Throughout the glove: Electro-mini-pressure bubbles Calibration signal Inside of glove: 6-axis realistic motion detection device 8
Functional RequirementsRequirement Description Expected ValuesLightweight portable power Glove shall have a lightweight rechargeable, Expected to be made ofsupply swappable, portable battery supply capable of rechargeable Li-Poly (Lithium- powering the glove electronics for 8 hours Polymer) technology or the like minimum. Must provide 3.6V and a minimum since it is rechargeable with a of 185 Wh/Kg. power density of around185 Wh/Kg.Realistic movement tracking Shall have a system for monitoring realistic Should result in accurate data Insystem motion with 6 degrees of tracking (X, Y, Z, Yaw, accordance with user hand Pitch, and Roll) movement. 6 (8 bit outputs) to CPU every 100msTemperature sensing Shall have a temperature sensor that reports 6 bit output to CPU every 500ms. data to the CPU/Control. (6 bits/500ms)Driver software Software is used to program the CPU to Software synchronizes glove synchronize the glove with an the robotic arm with arm 9
Functional Requirements (Continued)Requirement Description Expected ValuesSwappable, upgradeable, Glove shall contain a high speed Minimum 2 GHz signalshigh speed, high bandwidth, (GHz), high bandwidth , RX/TX unitRX/TX unit for sending video and signal information to external devices.Electro-mini-pressure Based on feedback from the robotic CPU receives TX from the roboticbubbles for fingertip arm, 35 bubbles move accordingly to arm and moves the bubblespressure simulation simulate pressure accordinglyTotal glove weight Glove w/ power supply shall weigh no Max 3lb more than 3lbThree standard sizes Glove shall come in three standard Must satisfy 95% of working sizes professionalsSynchronization Glove must be able to calibrate with Audio signal lets the user know if the robotic arm so that the arm can calibration was successful, then the move accordingly robotic arm moves accordingly 10
Importance from Greatest to Least Performance: Clock Speed: Fast Digital Switching Speed (Necessary to Handle a Min. 2GHz Clock), Clean Digital Pulses with Optimal TR, TF ,PDHL, PDLH Minimum Power: Utilization (Must be < 2uA per gate) = 1A/500000 devices. Small Size High Noise Immunity Reliability: Resistance to Electrostatic Discharge Durability 11
Setup: Testing will Proceed in a Controlled Laboratory Environment at Room Temperature Then in More Extreme Conditions Product Specifications will be tested to ensure glove meets all minimum functional, interface, performance, and qualification requirements. CPU/Control unit will be programmed by a computer using the USB port to run: ▪ VR Glove Program ▪ OCR Detection Program ▪ Capability to TX live video & Glove Control Outputs to Computer Measurement: All Systems will be Measured against Specifications Expected Values A Virtual System Will Be Designed With Projected Results The Glove Will be Tested Against These Results 12
Pass/Fail CriteriaItem Verifications Fail PassPortable Power Battery Unit Lasts for 4 Hours while in Continuous <4hrs >4hrsSupply Use Powering all Electronic Devices.Portable Power Battery Unit is Fully Rechargeable (For Three Cycles <99.9% =>99.9%Supply of 4 Hr. Testing) Capacity CapacityPower Supply Power Supply Delivers 3.61 – 3.59V for Full 4 Hours <3.59V 3.61-3.59VOutput of Use.Temperature Unit will be Tested to Ensure System Powers Off Does not power Safely PowersSensing Unit When Temperatures are at or above 100°F off. Off. Conditions: • Power to all electronics • Glove Being UsedDriver Software Interface comes with driver software to sync up the Software Software glove’s chip with the interface. doesn’t sync syncs glove. glove. 13
Pass/Fail CriteriaItem Verifications Fail PassElectro-Mini- Test all electro-mini-pressure bubbles throughout Bubbles do not BubblesPressure Bubbles the glove for complex simulations and interactions. move properly movefor Texture properlySimulationRealistic Movement Realistic Motion accurately emulates (within 3°) 6 >3° of Error <=3° of ErrorTracking System areas of tracking (X, Y, Z, Yaw, Pitch, and Roll)Touch/Sensor All 12 Touch/Sensor Points are Map- Fails to Meet MeetsPoints able/Programmable, and User-Adjustable. Points must be Win7 or later compliant HID buttons. Finger-Tip Touch Points should also be able to detect user Heart Rate.High-speed TX/RX TX/RX Unit needs to operate at a minimum of Does not TX at TX at 250Unit. 250Mbits/sec. 250 Mbits/sec Mbits/secAccurate TX/RX TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6Unit. 14
Meets requirements for Text to Braille System with Addition Functionality for Other External Applications: VR Industry Medical Systems Integrating VR and Information Access Training Programs Students/Educators Computer Users/Gaming Industry Robotics Military The Wanderlink Glove HID has the potential to Redefine Human Interaction with Tomorrow’s Technology. 15
Batteries Wholesale, Capacity VS Weight. Retrieved 29 October 2011 from: http://www.batterieswholesale.com/capacity_weight.htmHEV Vehicle Battery Types,n.d., Retrieved 13 October 2011 from ThermoAnalytics Website:http://www.thermoanalytics.com/support/publications/batterytypesdoc.htmlCyber Glove 2. Retrieved 29 October 2011.http://www.vrealities.com/cyber.htmlP5 Virtual Reality Glove, n.d., Retrieved 13 October 2011 from:http://www.vrealities.com/P5.htmlPeregrine Glove, n.d., Retrieved 13 October 2011 from:http://theperegrine.com/product/All About Batteries for Your Project, n.d., Retrieved 13 October 2011 from:http://www.ladyada.net/library/batteries.htmlBattery Life,n.d., Retrieved 13 October 2011 from Climber.org Website:http://www.climber.org/gear/batteries.html 17