EPOCalypse Mind Controlled Car
description
Transcript of EPOCalypse Mind Controlled Car
Group 21Kathryn Morales Mike Strobridge
Chris PerezLee Sully
EPOCalypse Mind Controlled Car
Basic Overview
• To be able to control an RC car around various obstacles using only the mind
• When certain brain waves or facial expressions are detected, the software will register and interpret them as separate vehicle commands
• Depending on what signal is detected the vehicle will go forward, left, right, or stop
Objectives
1. Headset: sampling rate of > 100 Hz, Resolution of 16 bits, Dynamic range > 200 mVpp
2. Emotiv Software: 2.4GHz processor, 1GB RAM, 50 MB disk space
3. RC car: have an operating range of 30 ft and have a full range of motion
Requirements/Specifications
• 14 channels with 7 paired sensors
• Sampling rate of 128 Hz• 16 bit resolution• 0.2 – 45 Hz bandwidth• Dynamic Range 256
mVpp• Transmits data
wirelessly to Bluetooth dongle at 2.4 GHz band
Emotiv EPOC Headset
Emotiv’s 3 suites• Cognitiv- registers and interprets
users conscious thoughts• Expressiv- uses the signals
measured to interpret users facial expressions
• Affectiv- monitors user’s emotional states (not being used)
• All suites reflect real time measurements
• Controlling forward motion of the car through the Cognitiv suite by training the mind to manipulate a 3D cube.
Emotiv Suites
Location of sensors on scalp
Area Name Brodmann Area #
Dorsolateral prefrontal cortex
9
Frontal eye fields 8
Anterior Prefrontal Cortex
10
Primary gustatory gyrus 43 (not shown)
Middle temporal gyrus 21
Primary motor cortex 4
Somatosensory association cortex
7
Brodmann Areas
Emotiv Headset Training/Testing
Expressiv Suite Testing;Detects range of facial expressionsWe will be using the left wink and right wink detection for left and right turning.
Cognitiv Suite Training;Methods tried•Thinking in a different language•Reaction to modest pain (oceans 11 tec.)•Focusing on/past an object•Immediate local temperature change
Main Board OptionsMainboard type
Processors
System Memory
Bios Chipset Price (w/o processor)
Intel DQ77KB
Core i3/i5/i7(Ivy/Sandy Bridge) desktop processors
2 DDR3 1333 SO-DIMMUp to 16 GB memory size
AMI uEFI BIOS 96 Mb flash memory
Intel Q77 Express
$149.95
Jetway NF9G-QM77
Core i3/i5/i7 (Ivy/Sandy Bridge) mobile processors
2 DDR3 1333 SO-DIMMUp to 16 GB memory size
AMI EFI 64MB SMT Flash ROM
Intel QM77 $245.00
Intel DH61AG
Core i3/i5/i7 (sandy bridge) desktop processors
2 DDR3 1333 SO-DIMMUp to 16 GB memory size
AMI uEFI BIOS 16 Mb flash memory
Intel H61 Express
$135.95
Decided on DH61AG • Because of price meets
minimum requirements• Using Intel Core i3 sandy
bridge processor running at 2.5 Ghz
• System Memory of 1 GB. Looking to expand to 2 GB
• Integrated Intel HD graphics as a bonus
• 160 GB laptop hard drive added
Intel DH61AG Mini Motherboard
Mini- ITX (17 X 17 cm)
• We decided to write the EPOC software using C++
• There are many examples of code already written in C++
• No prior experience in C++, so wanted a challenge.
EPOC Software
Class Diagram
Data Flow – Receiving a Signal
Data Flow – Dispatching
Preliminary Testing
Programed in C++
Translation Programming Scheme• Software translates a stream of
signals into an 8 bit binary signal
• The EmoState contains information and data
• evoked by the signals and commands are handled by its corresponding EMOTIV API functions and methods
Software Layout
Activity Diagram
• Translation Programming Scheme
Class Diagram
Transmitter on motherboard
Receiver on pcb Atmega328p-pu
DC Drive MotorDC Servo Motor
Basic Car Layout
Motor Control Circuit
• New Bright Ford F-150
• 3 lbs• $26.00
• Atmega 328p-pu microcontroller with 28 pins and a 5V operating voltage
17.7 inches
9.3 inches
9.8 inches
.28in
1.36in
•LM 7805 Voltage Regulator•Various diodes, LEDs, capacitors, resistors, and pin heads•.1uF, 22uF, 22pF, 2.2kohm, 47kohm, 1N4004
•L298N H-Bridge•Able to control two motors at the same time with a 5V operating voltage•When Enable A is activated it turns on the drive motor•When Enable B is activated it turns on the turn motor
.344in
.069 in
.157in
Drive Motor 1
Turning Motor
Enable Pin 14
Input Pin 15/16
Enable Pin 17
Input Pin 18/19
Result
L 00/11
L 00/11 OFF
L 01 L 01 OFFL 10 L 10 OFFH 00/1
1L 00/11 STOP
H 01 L 00 FORWARD
H 10 L 00 BACKH 01 H 01 RIGHTH 01 H 10 LEFT
H-Bridge L298N
Wireless Transmitter/ReceiverRF Link 315 MHz Transmitter/ Receiver
Xbee 802.15.4 (2.4 GHz)
Seeedstudio 315MHz RF Low Cost Transmitter / Receiver Pair
Range 500ft range (given perfect conditions)
100 feet (indoor)300 feet (outdoor, line-of-sight)
300 – 500 meters
Cost Transmitter: $3.95Receiver: $4.95
$21.99 each Pair: $4.99
Pros Very Cheap -Very reliable and simple communication- Ready to use out-of-box
- Very Cheap- Commonly used
Cons - Signal is very noisy- No method for pairing devices (Must do manually)
A little more expensive
Signal is very noisy (requires addition of encoder/decoder to remove disturbances)
• 2 Xbee modules communicate between the motherboard and the vehicle
• 1 Xbee connected to an Xbee Explorer dongle, then connected to the motherboard
• 1 Xbee connected to an Xbee Explorer Regulated, then connected to the pcb
• Range of 100 ft indoors/300 ft outdoor.
• Operating frequency at 2.4 GHz
Transmitting and Receiving Data
Final Printed Circuit Board
• Car: 6 volts, via four AA batteries, to power everything on the vehicle
• Motherboard: 90W 19V Laptop power source.
• Headset: Lithium polymer rechargeable battery with 12 hr life.
Power
Administrative Content
• Analysis and encoding of raw EEG data• Maintaining left and right directional
signals from left and right blinking• Problems training more than 3 cognitiv
commands for forwards/backwards movement
• Transmitting and receiving data from DH61AG motherboard to the onboard PCB
Difficulties
Team Member
Emotiv EPOC Headset
DH61AG Motherboard
Emotiv Coding
Software / other coding
Onboard PCB
Remote Controlled Car
Kathryn X XMike X X XChris X X XLee X X
Work Distribution
TotalCodingTesting
PCBPrototyping
DesignResearch
0% 10%20%30%40%50%60%70%80%90%56%
35%55%
40%25%
75%85%
Progress
Progress
Project Progress
Part PriceEmotiv EPOC Neuro-Headset $750.00Intel Mini-ITX Motherboard $135.95Intel Core i3 Processor $189.001 GB Onboard Memory $18.00CPU Cooler $39.00160 GB Laptop Hard Drive $95.8490W 19V Power Source $53.24Remote Control Car $26.00Serial to Parallel Converter $2.98DC Servo Motor $11.77Xbee Series 1 (2) $44.00Xbee Explorer USB $24.95Total $1410.73
Budget
Questions