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 remotely 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. Pressure points will be added along with the capability to detect three-dimensional motion. By using pressure points, the glove will allow the user to remotely 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 1.8 Volts to power all glove electronics for a minimum time of three 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.
Electro-mini-pressure bubbles will apply pressure to the user based on feedback from the robotic arm. This is to ensure that the user does not over apply pressure to the object the robotic arm is holding. The glove will weigh no more than 3 lbs and be available in various sizes to satisfy 95% of working professionals in the market. To sync the glove with the robotic arm, the user will have their hand open palm face down which will be the resting position of the robotic arm. An audio signal will tell the user if calibration was successful in order to begin glove and robotic arm operation.
The glove will be used in a room temperature environment.
The power supply must be able to drive all the sensors and pressure bubbles properly.
The glove controls a robotic arm to work in an environment hazardous to humans.
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 27_presentation_bi_cmos_comparisons_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 remotely 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 control interface to robotic arm Be wired to the robotic arm For this application, the Wanderlink Glove will: Provide pressure simulation for the hand and fingers Monitor three-dimensional motion of the glove and its fingers Provide a portable, rechargeable power source 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) 4 depressible buttons (Power, Confirm, Deny, Next) for controlling the glove A low bandwidth swappable RF TX/RX unit for communicating with robotic arm(s) Swappable and reprogrammable CPU/controller Separate rechargeable battery unit to power the glove 3
Low bandwidth swappable RF TX/RX 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 confirm/deny/next buttons Outputs data to low BW TX unit to robotic arm Robotic arm moves accordingly Presses “Power” button again Powers off glove electronics 7
Attached to glove: Low bandwidth Small, lightweight, portable swappable RF TX unit battery On cuff of glove:4 depressible buttons (Power, Swappable, upgradeable and reprogrammable External devices Confirm, Deny, Next) for controlling the glove CPU/controller Computer Robotic arm Major IC Characteristics Fast Switching Minimum Power Usage 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 3 hours Polymer) technology or the like minimum. Must provide 1.8V 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 500msTemperature 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 low speed Minimum 2 MHz signalslow speed, low bandwidth, (MHz), low bandwidth , RX/TX unitRX/TX unit for sending signal information to robotic armElectro-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
Setup: testing will proceed in a controlled laboratory environment at room temperature 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 use driver software for the glove and robotic arm Measurement: All systems will be measured against specifications expected values A glove and robotic arm will be tested to ensure both function properly 11
Pass/Fail CriteriaItem Verifications Fail PassPortable power Battery unit lasts for 3 hours while in continuous use <3hrs >3hrssupply powering all electronic devices.Portable power Battery unit is fully rechargeable (for three cycles of <99.9% =>99.9%supply 3 hr testing) Capacity CapacityPower supply Power supply delivers 1.81 – 1.79V for full 3 Hours of <3.59V 1.81-1.79Voutput 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 Driver software is used to sync up the glove’s chip Software Software with the robotic arm. doesn’t sync syncs glove. glove. 12
Pass/Fail CriteriaItem Verifications Fail PassElectro-mini- Test all electro-mini-pressure bubbles throughout Bubbles do not Bubblespressure bubbles for the glove for complex simulations and interactions. move properly movepressure simulation properlyRealistic 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)Calibration Glove will be positioned the same as the robotic Arm Arm arm’s rest position to calibrate the glove. This will movements movements allow the robotic arm to move accurately and aren’t the same are the same accordingly. as glove as glove movements. movements.Low-speed TX/RX TX/RX Unit needs to operate at a minimum of Does not TX at TX at 2unit 2Mbits/sec. 2 Mbits/sec Mbits/secAccurate TX/RX unit TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6 13
The battery pack will be wired to the glove and attached to the user’s forearm The battery chosen is a 6 cell C 4000 H nickel metal hydride Battery pack is rechargeable Should provide enough power to work the glove for 3 hours 14
Capacity (mAh): 4000 Weight: 1.1 lbs Dia: 25.5 mm per cell Height: 49.5 mm per cell 15
Glove Critical Characteristics: Must Perform Inversion for Logic Applications Power Usage: Supplied: (200 mA @ 9V) for Three hours Step Down transformer to (545 mA @ 3.3V) or (1A @ 1.8V) Glove will Require >500000 devices Noise Immunity: NMH => 250mV , NML => 250mV Speed: 100-200 Hz For Glove Electronics Operating Temperatures: 10 ºC to 45 ºC 16
If Provided 545mA @ 3.3V Each ICFor Min 500000 DevicesICs Must Operate < Approx 1uWIf Provided 1A @ 1.8V Each ICFor Min 500000 DevicesICs Must Operate < Approx 2uW1st Place: BiCMOS Gated Diode2nd Place: CMOSNMH => 250mVNML => 250mV1st Place: CMOS2nd Place: Emitter Follower Common Emitter has 180º Phase Shift And Will Not Work For Logic Functions
Speed: 100-200 Hz For GloveElectronics1st Place: BiCMOS Gated Diode2nd Place: BiCMOS Emitter Follower Common Emitter has 180º Phase Shift And Will Not Work For Logic Functions
Gated Diode Has High OutputImpedance • Need to Compare Fanout Common Emitter has 180º Phase Shift And Will Not Work For Logic Functions
3.3V Power Supply Without 2nd Order Effects 1.8V Power Supply Without 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u CMOS: 11pW off, 3.1mW Switching CMOS: 3pW off, 316uW Switching Gated Diode: 96pW off, 9.66mW Switching Gated Diode: 513pW off, 5.5nW Switching 24
3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u CMOS: 11W off, 3mW Switching CMOS: 3.25pW off, 311uW Switching Gated Diode: 2.15nW off, 8.4mW Switching Gated Diode: 494pW off, 3nW Switching 25
3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u CMOS: 11pW off, 3.2mW Switching CMOS: 3.25pW off, 307uW Switching Gated Diode: 2nW off, 5mW Switching Gated Diode: 20pW off, 436pW Switching 26
3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u CMOS: 11W off, 2.9mW Switching CMOS: 3.5pW off, 321uW Switching Gated Diode: ?W off, ?W Switching Gated Diode: 647pW off, 69nW Switching 27
3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u CMOS Best NMH and NML CMOS Best NMH and NML 28
3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u 29
Reasoning For Selection! Performs Inversion for Logic Applications Lowest Power Usage Sufficient Noise Immunity NMH > 250mV , NML > 250mV Speed: Will Fulfill 100-200 Hz Spec. and is still usable in 100KHz range. Operating Temperatures: 10 ºC to 45 ºC Verified 33
The Wanderlink Glove will allow a working professional to control a robotic arm The robotic arm is working in a hazardous environment while the user is in a safe environment Once the glove is synchronized with the arm, the arm will mimic the gloves movements 34
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 36