Ee660 ex 27_presentation_bi_cmos_comparisons_wanderlink_glove_all
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 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
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)
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
5. 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
6. Safe
Temperature sensing / automatic shut off
Portable
Light weight (<3lb)
Long-life swappable/portable battery unit (lasts 3 hours –
continuous usage)
Functional
Realistic movement tracking system (6 axis)
Low 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 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
8. 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
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 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 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 500ms
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 low speed Minimum 2 MHz signals
low speed, low bandwidth, (MHz), low bandwidth , RX/TX unit
RX/TX unit for sending signal information to
robotic arm
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. 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
12. Pass/Fail Criteria
Item Verifications Fail Pass
Portable power Battery unit lasts for 3 hours while in continuous use <3hrs >3hrs
supply powering all electronic devices.
Portable power Battery unit is fully rechargeable (for three cycles of <99.9% =>99.9%
supply 3 hr testing) Capacity Capacity
Power supply Power supply delivers 1.81 – 1.79V for full 3 Hours of <3.59V 1.81-1.79V
output 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 Driver software is used to sync up the glove’s chip Software Software
with the robotic arm. doesn’t sync syncs glove.
glove.
12
13. Pass/Fail Criteria
Item Verifications Fail Pass
Electro-mini- Test all electro-mini-pressure bubbles throughout Bubbles do not Bubbles
pressure bubbles for the glove for complex simulations and interactions. move properly move
pressure simulation properly
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)
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 2
unit 2Mbits/sec. 2 Mbits/sec Mbits/sec
Accurate TX/RX unit TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6
13
14. 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
15. Capacity (mAh): 4000
Weight: 1.1 lbs
Dia: 25.5 mm per cell
Height: 49.5 mm per cell
15
16. 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
17. If Provided 545mA @ 3.3V Each IC
For Min 500000 Devices
ICs Must Operate < Approx 1uW
If Provided 1A @ 1.8V Each IC
For Min 500000 Devices
ICs Must Operate < Approx 2uW
1st Place: BiCMOS Gated Diode
2nd Place: CMOS
NMH => 250mV
NML => 250mV
1st Place: CMOS
2nd Place: Emitter Follower
Common Emitter has 180º Phase Shift
And Will Not Work For Logic Functions
18. Speed: 100-200 Hz For Glove
Electronics
1st Place: BiCMOS Gated Diode
2nd Place: BiCMOS Emitter Follower
Common Emitter has 180º Phase Shift
And Will Not Work For Logic Functions
19. Gated Diode Has High Output
Impedance
• Need to Compare Fanout
Common Emitter has 180º Phase Shift
And Will Not Work For Logic Functions
20.
21.
22.
23.
24. 3.3V Power Supply Without 2nd Order Effects 1.8V Power Supply Without 2nd Order Effects
Device 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
25. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device 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
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26. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device 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
27. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device 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
28. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device 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
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29. 3.3V Power Supply With 2nd Order Effects 1.8V Power Supply With 2nd Order Effects
Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u
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33. 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
34. 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
36. 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
36
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 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