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EPOCalypse Mind Controlled Car

EPOCalypse Mind Controlled Car. Group 21 Kathryn Morales Mike Strobridge Chris Perez Lee Sully. Basic Overview. Objectives. To be able to control an RC car using only the mind.

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EPOCalypse Mind Controlled Car

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  1. EPOCalypse Mind Controlled Car Group 21 Kathryn Morales Mike Strobridge Chris Perez Lee Sully

  2. Basic Overview

  3. Objectives • To be able to control an RC car using only the mind. • When certain brain waves or facial expressions are detected, the software will interpret them into separate vehicle operations • Depending on what signal is detected the vehicle will go forward, left, right, or stop

  4. Requirements/Specifications • Headset: sampling rate of > 100 Hz, Resolution of 16 bits, Dynamic range > 250 mVpp • Emotiv Software: 2.4GHz processor, 1GB RAM, 50 MB disk space. • RC car: Arange of at least 20ft, with full range of motion.

  5. EMOTIV EPOC Neuro-Headset

  6. Emotiv EPOC Headset • 14 channels with 7 paired sensors • Sampling rate of 128 Hz • 16 bit resolution • 0.2 – 45 Hz bandwidth • Dynamic Range 256 mVpp

  7. Brodmann Areas

  8. Emotiv Suites • 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 • 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. Location of sensors on scalp

  9. Emotiv Headset Training/Testing Expressiv Suite Testing; Detects range of facial expressions We 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

  10. Main Board Options

  11. Intel DH61AG Mini Motherboard • 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. Integrated Intel HD graphics as a bonus. • 160 GB laptop hard drive added. Mini- ITX (17 X 17 cm)

  12. Software

  13. EPOC Software • 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.

  14. Class Diagram

  15. Data Flow Diagram

  16. Final Command String • Expressive • “WL” = Turn Wheels Left • “WR” = Turn Wheels Right • “GS” = Go Straight • “SW” = Straighten Wheels • Cognitive • “Neutral” = Stop • “Push” = Move Forward • “Pull” = Move Backwards • -Final commandstringwill be a concatenation between one of the expressive commands and one of the cognitive commands. • - The first two characters of the final string will be the expressive command and the remainder of the string will be the cognitive command. • - Ex: • WLPush

  17. Emotiv Software Testing: Expressive Commands

  18. Emotiv Software Testing: Expressive Commands

  19. Emotiv Software Testing: Expressive Commands

  20. Emotiv Software Testing: Cognitive Commands

  21. Emotiv Software Testing: Cognitive Commands

  22. Emotiv Software Testing: Cognitive Commands

  23. Emotiv Software Testing: Final Command String

  24. Development Environments Arduino 1.0.3 Digi XCT-U Microsoft Visual Studio 2010

  25. Class Diagram

  26. Activity Diagram

  27. SW/HW interface

  28. Atmega 328 Processed Signals

  29. Atmega 328 Processed Signals

  30. Atmega 328 Processed Signals

  31. The Car

  32. Basic Car Layout Transmitter on motherboard Receiver on PCB Atmega328p-pu DC SteeringMotor DC Drive Motor

  33. Full PCB

  34. New Bright Ford F-150 • 3 lbs • $26.00 • Ideal size for use. • Atmega 328p-pu microcontroller with 28 pins and a 5V operating voltage. 9.8 inches 9.3 inches 17.7 inches 1.36in .28in

  35. The PCB • L298 dual full bridge driver. • LM 7805 Voltage Regulators • Directional LEDs, capacitors (.1uF, 22uF, 22pF), resistors (2.2kohm & 47kohm), and female pin headers • 1N4004 Fly Back diodes (circled)added to avoid damage to the circuitry connected to the inductive load of the motors.

  36. 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 H-Bridge L298N .069 in .344in .157in

  37. Motor Control Circuit

  38. Wireless Transmitter/Receiver

  39. Transmitting and Receiving Data • 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

  40. Final Printed Circuit Board

  41. Power • 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.

  42. Administrative Content

  43. Difficulties Overcome • Analysis and encoding of raw EEG data. • Maintaining left and right directional signals from left and right blinking. • Transmitting and receiving data from DH61AG motherboard to the onboard PCB. • Not funded.

  44. Work Distribution

  45. Budget

  46. Questions?

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