1. Dan Wehnes, Loren Schwappach, Tom Thede
Wanderlink
EE660: Modern Solid State Devices
17 November 2011 1
2. 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
3. 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
4. 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
5. 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
6. Safe
Temperature sensing / automatic shut off
Portable
Light weight (<1lb)
Long-life swappable/portable battery unit (lasts 8 hours –
continuous usage)
Functional
Realistic movement tracking system (6 axis)
Easily accessed touch/sensor points
High speed TX/RX unit
Flexible, breathable, comfortable
Adaptable
Swappable, upgradable, programmable CPU/control module
Swappable, upgradeable TX/RX unit
Reliable
Heat/fire resistant
Electronic electrostatic protection
Durable
6
7. 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
8. 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
9. Functional Requirements
Requirement Description Expected Values
Lightweight portable power Glove shall have a lightweight rechargeable, Expected to be made of
supply 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 In
system 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 100ms
Temperature 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
10. Functional Requirements (Continued)
Requirement Description Expected Values
Swappable, upgradeable, Glove shall contain a high speed Minimum 2 GHz signals
high speed, high bandwidth, (GHz), high bandwidth , RX/TX unit
RX/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 robotic
bubbles for fingertip arm, 35 bubbles move accordingly to arm and moves the bubbles
pressure simulation simulate pressure accordingly
Total glove weight Glove w/ power supply shall weigh no Max 3lb
more than 3lb
Three standard sizes Glove shall come in three standard Must satisfy 95% of working
sizes professionals
Synchronization 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
11. 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
12. 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
13. Pass/Fail Criteria
Item Verifications Fail Pass
Portable Power Battery Unit Lasts for 4 Hours while in Continuous <4hrs >4hrs
Supply 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 Capacity
Power Supply Power Supply Delivers 3.61 – 3.59V for Full 4 Hours <3.59V 3.61-3.59V
Output of Use.
Temperature Unit will be Tested to Ensure System Powers Off Does not power Safely Powers
Sensing Unit When Temperatures are at or above 100°F off. Off.
Conditions:
• Power to all electronics
• Glove Being Used
Driver 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
14. Pass/Fail Criteria
Item Verifications Fail Pass
Electro-Mini- Test all electro-mini-pressure bubbles throughout Bubbles do not Bubbles
Pressure Bubbles the glove for complex simulations and interactions. move properly move
for Texture properly
Simulation
Realistic Movement Realistic Motion accurately emulates (within 3°) 6 >3° of Error <=3° of Error
Tracking System areas of tracking (X, Y, Z, Yaw, Pitch, and Roll)
Touch/Sensor All 12 Touch/Sensor Points are Map- Fails to Meet Meets
Points 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 250
Unit. 250Mbits/sec. 250 Mbits/sec Mbits/sec
Accurate TX/RX TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6
Unit.
14
15. 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
17. Batteries Wholesale, Capacity VS Weight. Retrieved 29 October 2011
from: http://www.batterieswholesale.com/capacity_weight.htm
HEV Vehicle Battery Types,n.d., Retrieved 13 October 2011 from ThermoAnalytics
Website:http://www.thermoanalytics.com/support/publications/batterytypesdoc.html
Cyber Glove 2. Retrieved 29 October 2011.
http://www.vrealities.com/cyber.html
P5 Virtual Reality Glove, n.d., Retrieved 13 October 2011 from:http://www.vrealities.com/P5.html
Peregrine 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.html
Battery Life,n.d., Retrieved 13 October 2011 from Climber.org
Website:http://www.climber.org/gear/batteries.html
17
Hinweis der Redaktion
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