P15051: Robotic Eye

Project Definition Review TIM O’HEARN ANDREW DROGALIS JORGE GONZALEZ

KATIE HARDY DANIEL WEBSTER

Team Roles

2/12/2015 P15051: Robotic Eye

Team Member Major Role

Tim O'Hearn Mechanical Engineer Team Lead | Edge Maintainer

Katie Hardy Electrical Engineer Facilitator | Edge Maintainer

Andrew Drogalis Mechanical Engineer Communications | Presentation Manager

Jorge Gonzalez Electrical Engineer Hardware Manager

Daniel Webster Electrical Engineer Lead Programmer

Agenda Project Background

Problem Statement

Customer Needs

Engineering Requirements

House of Quality

Benchmarking

Critical Design Challenges

Deliverables

Project Plan

Project Website

https://edge.rit.edu/edge/P15051/public/Home

2/12/2015 P15051: Robotic Eye

Project Background: Current Technology

Eye trackers use light reflected off the eye to determine

gaze position.

The OEMI-7 replica eye is designed for both bright and

dark pupil eye tracking and will be the eye used in our

device.

There is currently no formal consensus on how to

measure and report data quality of eye tracking

devices. This lack of standardization prevents the direct

comparison of information gathered.

Designers need to know what range of accuracy and

precision they can expect from a system in order to

design an interface which will operate properly.

Manufacturers want to report, compare and optimize

the quality of data their systems produce, and know

that other manufacturers are using the same measures.

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Project Background: Stakeholders Users:

o Eye tracker designers & manufacturers

o Research lab technicians

o Eye tracker consumers

Investors:

o RIT Center for Imagining Science

o Dr. Jeff Pelz and Ms. Dong Wang

o COGAIN

Design Team:

o Members of P15051

o RIT Senior Design Program

2/12/2015 P15051: Robotic Eye

Problem Statement Eye trackers are human interface devices used to observe and measure

movement of the human eyes. There currently exists no standardized test method

for evaluating the quality of the data collected by human eye tracking devices.

This lack of a clear standard of testing creates unreliable and incomparable data

for use in the many fields utilizing eye tracking devices.

The goal of this project is to develop a robotic eye which can mimic the

movement characteristics of the eye and provide a standardized environment for

the quality assessment of existing eye tracking devices, free from any biological

variance. The project will focus on creating a programmable robotic eye mount,

capable of smooth pursuit as well as saccade, which can be used in conjunction

with a variety of video-based eye tracking software. The project will seek to

minimize the cost to manufacture, maintain, and operate such a device while

maintaining high repeatability and ease of operation.

2/12/2015 P15051: Robotic Eye

Customer Needs

2/12/2015 P15051: Robotic Eye

Scale:

1 = Must Have

2 = Nice to Have

3 = Lowest Priority

P15051: Robotic Eye for Eye Tracker - 2/10/15

CategoryCustomer

Rqmt. #Description Importance

CR1.1 Performs smooths pursuit 1

CR1.2 Performs saccade 2

CR1.3 Performs torsional movement 3

CR2.1 Size of a human head 1

CR2.2 Incorporates static eye replica 1

CR2.3 Coaxial 1

CR2.4 Provide Blinking 3

CR3.1 Accept data from Python 2

CR3.2 Short Programing Time 1

CR3.3 Ability for real time input 1

CR3.4 Use Euler angles 1

CR3.5 Comand frequency of 1kHz 1

CR3.6 Upload preprogrmamed data 1

CR3.7 Common Timestamp between Robot & Tracker 1

CR4.1 Memory on device 1

CR4.2 TTL trigger to start program 1

CR4.3 USB 3.0 1

CR5.1 High resolution 1

CR5.2 Precise position 1

CR5.3 Repeatable acceleration and velocity 1

CR5.4 Normal human eye range of motion 1

CR5.5 Compatable with a variety of eye trackers 2

CR6.1 Low cost prototype 1

CR6.2 Low cost maintenance 1

Aesthetics

Types of Eye Motion

Cost

Software

Hardware

Mechanical

Engineering Requirements P15051: Robotic Eye for Eye Tracker - 2/10/15

rqmt. # Importance Source Function Engr. Requirement (metric) Unit of Measure Ideal ValueTest (how are you going to verify

satisfaction)

S1.1 1 CR1.1 Performs smooths pursuit velocity Deg/s 100 Use Laser and Mirror

S1.2 1 CR1.1 Performs smooths pursuit acceleration Deg/s 2̂ 2000 Use Laser and Mirror

S1.3 2 CR1.2 Performs saccade velocity Deg/s 500 Use Laser and Mirror

S1.4 2 CR1.2 Performs saccade acceleration Deg/s 2̂ 20000 Use Laser and Mirror

S1.5 3 CR1.3 Allow Torsional Movement Deg 360 -

S2.1 1 CR2.1 Device the size of a Human Head Sq inches <13 Length Measurements

S2.2 1 CR2.1 Diameter of device inches 4 Length Measurements

S2.3 1 CR2.2 Incorporate Static Eye Replica Binary Yes -

S2.4 1 CR2.3 Rotation Axis loation above top of cornea mm 13.81 -

S2.5 3 CR2.4 Provide Blinking Binary Yes -

S3.1 1 CR3.1 Accept data from Python - (t,H,V) Binary Yes Send Sample Data

S3.2 1 CR3.2 Short Programing Time minutes <5 Test Subject write code

S3.3 1 CR3.3 Ability for real time input - (H,V) Binary Yes -

S3.4 2 CR3.4 Use Euler angles Binary Yes -

S3.5 1 CR3.5 Comand Frequency of 1kHz Binary Yes -

S3.6 1 CR3.6 Upload preprogramamed data Binary Yes Send Sample Data

S3.7 1 CR3.7 Common Timestamp between Robot & Tracker Binary Yes Use TTL trigger

S4.1 1 CR4.1 Minimum stored memory on device Mbytes 4 -

S4.2 1 CR4.1 Time of uploaded eye tracker data Minutes 5 -

S4.3 1 CR4.2 TTL trigger to start program Binary Yes -

S4.4 1 CR4.3 USB 3.0 Connection Binary Yes -

S5.1 2 CR5.1 High Position Resolution Deg 0.0075 Use Laser and Mirror

S5.2 1 CR5.2 Position Accuracy Delta Deg 0.015 Use Laser and Mirror

S5.3 1 CR5.3 Repeatablity of Acceleration % 2% of peak Use Laser and Mirror

S5.4 1 CR5.3 Repeatablity of Velocity % 0.5 of peak Use Laser and Mirror

S5.5 1 CR5.4 Normal Human eye range of motion (Vert Axis) Deg +/- 20 Use Laser and Mirror

S5.6 1 CR5.4 Normal Human eye range of motion (Horiz Axis) Deg +/- 30 Use Laser and Mirror

S5.7 1 CR5.5 Compatable with a variety of eye trackers % 90 Test with eyetrackers available

S6.1 1 CR6.1 Low cost prototpe Dollars <500 Get price estimates of components

S6.2 1 CR6.2 Low cost maintenance Dollars/Instance <50 Figure out likely failures & calc costCost

Types of Eye Motion

Aesthetics

Software

Hardware

Mechanical

House of Quality

2/12/2015 P15051: Robotic Eye

Benchmarking Devices

Eyeseecam:

Range of Motion = 30 degrees Horizontal, 30 degrees Vertical

Velocity = 1000 deg/s

Acceleration = 20,000 deg/s2

Max Position Error = 0.1 degrees

Average Position Error = 0.05 degrees

Disney’s Animatronic Eye:

Range of Motion = 20 degrees Horizontal, 20 degrees Vertical

Velocity = 500 deg/s

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Critical Design Challenges Programing Language

Hardware-Software Interface

Precision of Velocity and Acceleration

Accuracy in Position

Cost of Motors

Risk Management Chart

- See Link for Full Size

2/12/2015 P15051: Robotic Eye

ID Risk Item Effect Cause

Lik

elih

oo

d

Se

ve

rity

Imp

ort

an

ce

Action to Minimize Risk Owner

Describe the risk briefly

What is the effect on any or all of the project

deliverables if the cause actually happens?

What are the possible cause(s) of this risk?

L*S

What action(s) will you take (and by when) to prevent, reduce the impact

of, or transfer the risk of this occurring?

Who is responsible for following through on mitigation?

1 Finding Hardware that

Meets both Customer and Engineering Specifications

Hardware Specifications Would Not Be Met

Finding Hardware with Undisclosed

Specifications 2 3 6

Extensive Research Will Be Done to Ensure Proper Specifications and

Operation

Supporting Engineer

2 Finding Hardware that

Meets Specifications and Budget Constraints

Hardware Specifications Would Not Be Met

Inability to Find Hardware Which Does Not Exceed

Budget Constraints

2 3 6

Extensive Research Will Be Done On Hardware and Alternatives Before

Investing to Stay Within Budget Constraints

Supporting Engineer

3

Learning New Programming Languages and Interfacing

to Ensure Proper Communication With the

Device

Improper Interfacing, Unable to be Repeatable

and Accurate

Inexperience with the Required Languages

2 3 6

Familiarity with the Required Languages will Begin As Soon As

Possible to Ensure Proficiency When Needed

Supporting Engineer

4 Device Interfacing with a Computer Via USB 3.0

Longer Load and Run Times, Customer

Specifications Not Being Met

Inexperience with Interfacing with USB

3.0 2 2 4

Become Proficient in Interfacing with USB 3.0 As Soon As Possible

Supporting Engineer

5 Volumetric Footprint Not Exceeding the Size of a

Human Head

Inability for the Eye Tracker to Successfully

Detect and Track Artificial Eye

Having the Robotic Eye Mount Exceed

the Size of a Human Face

1 2 3 Design an Eye Mount that Meets All

Specifications and Motion Requirements

Supporting Engineer

6 Ability to Produce Human-

Like Eye Movements

Inability to meet Axis Motion Requirements, Human-Like Smooth Pursuit and Saccade

Movements

Insufficient Hardware Specifications and Improper Software

Interfacing

1 2 3

Meeting Hardware Requirements and Properly Interfacing the Software to

Reproduce Human-Like Eye Movements

Supporting Engineer

Deliverables MSD I (Spring):

Proof of Concept Calculations

System and Subsystem Design

MSD II (Fall):

Robotic Eye capable of smooth pursuit

Secondary Objective: Robotic Eye capable of saccade

All design documents (e.g. drawings/schematics)

Technical paper

Poster

Instructions for use/programming

2/12/2015 P15051: Robotic Eye

Project Plan

2/12/2015 P15051: Robotic Eye

References http://www.cogain.org/info/eye-data-quality

http://www.ocularinc.com/_data/product/OEMI-7.pdf

http://edge.rit.edu/edge/P14029/public/Home

http://edge.rit.edu/edge/P15001/public/Home

http://patft.uspto.gov/netacgi/nph-

Parser?Sect1=PTO2&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-

adv.htm&r=1&f=G&l=50&d=PALL&S1=08715033&OS=PN/08715033&RS=PN/0

8715033

EyeSeeCam: An Eye Movement–Driven Head Camera for the Examination

of Natural Visual Exploration, Erich Schneider, 2009

Senior Design Boot Camp, by Dr. Jeff Pelz

P15051_PRP_RoboticEye

2/12/2015 P15051: Robotic Eye

Questions?

2/12/2015 P15051: Robotic Eye