Ee660 ex 27_presentation_bi_cmos_comparisons_wanderlink_glove_all

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TheWanderlink Glove

Project

Dan Wehnes, Loren Schwappach, Tom ThedeWanderlink

EE660: Modern Solid State Devices17 November 2011

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Purpose

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

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Purpose

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

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Presentation Overview

Wanderlink Glove Initial Design Concept General Requirements Operation (What is

Expected)▪ Black Box Diagram

Specifications / Expected Values

Logic Gate Critical Characteristics

Acceptance Plan Battery analysis Circuit comparisons Conclusions

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Initial Design Concept

Attached to glove externally:

Small, lightweight, portable rechargeable battery

Swappable, upgradeable and reprogrammable

CPU/controller

Inside of glove:6-axis realistic motion

detection device

On cuff of glove:4 depressible buttons (Power, Confirm, Deny, Next) for controlling the

glove

Throughout the glove: Electro-mini-pressure bubbles to simulate

pressure

Low bandwidth swappable RF TX/RX unit

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General Requirements

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

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Operation (What is Expected)Conditions (User): Programs CPU/controller module

Puts on glove Presses “power” button inward

(battery is charged)

User calibrates glove and synchronizes it with the robotic arm

Receives instructions, relays chosen choices to CPU using confirm/deny/next buttons

Uses glove as required

Presses “Power” button again

Conditions (the CPU/controller module):

Takes in program updates

Powers up / initializes / checks calibration

Turns on/checks all glove electronics Checks for external device signals Shows User Battery Remaining

Audio signal indicates the glove has been calibrated

Begins robotic arm control

Receives signals from glove electronics

Checks confirm/deny/next buttons Outputs data to low BW TX unit to

robotic arm Robotic arm moves accordingly

Powers off glove electronics

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Black Box Diagram

Attached to glove:Small, lightweight, portable battery

Swappable, upgradeable and reprogrammable CPU/controller

Inside of glove:6-axis realistic motion

detection device

On cuff of glove:4 depressible buttons (Power, Confirm, Deny, Next) for controlling the

glove

Throughout the glove:

Electro-mini-pressure bubbles

Low bandwidth swappable RF TX unit

External devices Computer

Robotic arm

Calibration signal

Major IC CharacteristicsFast Switching

Minimum Power Usage

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Specifications

Functional RequirementsRequirement Description Expected Values

Lightweight portable power supply

Glove shall have a lightweight rechargeable, swappable, portable battery supply capable of powering the glove electronics for 3 hours minimum. Must provide 1.8V and a minimum of 185 Wh/Kg

Expected to be made of rechargeable Li-Poly (Lithium-Polymer) technology or the like since it is rechargeable with a power density of around185 Wh/Kg.

Realistic movement tracking system

Shall have a system for monitoring realistic motion with 6 degrees of tracking (X, Y, Z, Yaw, Pitch, and Roll)

Should result in accurate data In accordance with user hand movement. 6 (8 bit outputs) to CPU every 500ms

Temperature sensing Shall have a temperature sensor that reports data to the CPU/Control

6 bit output to CPU every 500ms. (6 bits/500ms)

Driver software Software is used to program the CPU to synchronize the glove with an the robotic arm

Software synchronizes glove with arm

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Specifications

Functional Requirements (Continued)Requirement Description Expected Values

Swappable, upgradeable, low speed, low bandwidth, RX/TX unit

Glove shall contain a low speed (MHz), low bandwidth , RX/TX unit for sending signal information to robotic arm

Minimum 2 MHz signals

Electro-mini-pressure bubbles for fingertip pressure simulation

Based on feedback from the robotic arm, 35 bubbles move accordingly to simulate pressure

CPU receives TX from the robotic arm and moves the bubbles accordingly

Total glove weight Glove w/ power supply shall weigh no more than 3lb

Max 3lb

Three standard sizes Glove shall come in three standard sizes

Must satisfy 95% of working professionals

Synchronization Glove must be able to calibrate with the robotic arm so that the arm can move accordingly

Audio signal lets the user know if calibration was successful, then the robotic arm moves accordingly

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Acceptance Plan

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

Acceptance Plan

Pass/Fail CriteriaItem Verifications Fail Pass

Portable power supply

Battery unit lasts for 3 hours while in continuous use powering all electronic devices.

<3hrs >3hrs

Portable power supply

Battery unit is fully rechargeable (for three cycles of 3 hr testing)

<99.9% Capacity

=>99.9% Capacity

Power supply output

Power supply delivers 1.81 – 1.79V for full 3 Hours of Use.

<3.59V 1.81-1.79V

Temperature sensing unit

Unit will be tested to ensure system powers off when temperatures are at or above 100°FConditions: • Power to all electronics• Glove being used

Does not power off.

Safely powers off.

Driver software Driver software is used to sync up the glove’s chip with the robotic arm.

Software doesn’t sync glove.

Software syncs glove.

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Acceptance Plan

Pass/Fail Criteria

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Item Verifications Fail Pass

Electro-mini-pressure bubbles for pressure simulation

Test all electro-mini-pressure bubbles throughout the glove for complex simulations and interactions.

Bubbles do not move properly

Bubbles move properly

Realistic movement tracking system

Realistic motion accurately emulates (within 3°) 6 areas of tracking (X, Y, Z, Yaw, Pitch, and Roll)

>3° of error <=3° of error

Calibration Glove will be positioned the same as the robotic arm’s rest position to calibrate the glove. This will allow the robotic arm to move accurately and accordingly.

Arm movements aren’t the same as glove movements.

Arm movements are the same as glove movements.

Low-speed TX/RX unit

TX/RX Unit needs to operate at a minimum of 2Mbits/sec.

Does not TX at 2 Mbits/sec

TX at 2 Mbits/sec

Accurate TX/RX unit

TX/RX acquired data accurately. BER > 10^-6 BER < 10^-6

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Battery Pack

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

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Battery Pack Specs

Capacity (mAh): 4000

Weight: 1.1 lbs Dia: 25.5 mm per

cell Height: 49.5 mm per

cell

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IC Critical Characteristics

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

Exercise 24:Comparison of Critical Values

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 2uW

1st Place: BiCMOS Gated Diode2nd Place: CMOS

NMH => 250mVNML => 250mV

1st Place: CMOS2nd Place: Emitter Follower

Common Emitter has 180º Phase Shift And Will Not Work For Logic Functions


Speed: 100-200 Hz For Glove Electronics

1st Place: BiCMOS Gated Diode2nd Place: BiCMOS Emitter Follower



Gated Diode Has High Output Impedance• Need to Compare Fanout


Comparison of CMOS and BiCMOS Gated Diode Inverters (Without 2nd Order Effects)

Comparison of CMOS and BiCMOS Gated Diode Inverters (With 2nd Order Effects)

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Comparison of Power Usagewithout 2nd Order Effects

3.3V Power Supply Without 2nd Order Effects

Device Sizes: PMOS: 56u/.67u, NMOS 26.4u/.67u

CMOS: 11pW off, 3.1mW SwitchingGated Diode: 96pW off, 9.66mW Switching

1.8V Power Supply Without 2nd Order Effects

Device Sizes: PMOS: 30u/.36u, NMOS 14.4u/.36u

CMOS: 3pW off, 316uW SwitchingGated Diode: 513pW off, 5.5nW Switching

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Comparison of Power Usagewith 2nd Order Effects

3.3V Power Supply With 2nd Order EffectsDevice Sizes: PMOS: 56u/.67u, NMOS

26.4u/.67uCMOS: 11W off, 3mW Switching

Gated Diode: 2.15nW off, 8.4mW Switching


14.4u/.36uCMOS: 3.25pW off, 311uW Switching

Gated Diode: 494pW off, 3nW Switching

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26.4u/.67uCMOS: 11pW off, 3.2mW Switching

Gated Diode: 2nW off, 5mW Switching



Gated Diode: 20pW off, 436pW Switching

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26.4u/.67uCMOS: 11W off, 2.9mW SwitchingGated Diode: ?W off, ?W Switching



Gated Diode: 647pW off, 69nW Switching

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Comparison of NMH and NMLwith 2nd Order Effects


26.4u/.67uCMOS Best NMH and NML


14.4u/.36uCMOS Best NMH and NML

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Comparison of NMH and NMLwith 2nd Order Effects


26.4u/.67u


14.4u/.36u

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Frequency Comparison

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Frequency Comparison Cont.

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Frequency Comparison Cont.

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IC Selected – BiCMOS Gated Diode(With 1.8V Power Supply)

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

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Conclusions

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

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Questions?

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References

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

http://www.vrealities.com/cyber.html

http://www.vrealities.com/cyber.html

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