MotionPad

Senior Design: Ergonomic Controller for

Caltrans

Engineer’s Name: Jake Wang

Date: 11/23/13

Sponsor Name: Wil White

Funded by Caltrans

COPYRIGHT © 2013 JAKE WANG

PROPOSAL OBJECTIVE:

This report describes my plans for building the controller during Winter Quarter. It includes my detailed final controller design accompanied with specific command structures, task descriptions for the controller design, product development schedule, action items, and a material proposal for the controller design.

The main goal is to create a functional controller prototype that can interface with the ARDVAC truck by the end of Winter Quarter. There will be mechanic design analysis, electronic circuitry analysis, software architectural analysis, and also software simulation analysis during Winter Quarter.

I will deliver the project prototype, the PowerPoint presentations, and the final project report by the end of the Winter Quarter. Please let me know if you have any questions.

Thank you very much for your valuable time.

Sincerely,

Jake Wang Mechanical Engineering ’14


TABLE OF CONTENTS FOR WINTER QUARTER:

I. INTRODUCTION

II. DESCRIPTION OF THE MOTIONPAD CONTROLLER DESIGN

III. LIST OF COMMANDS FOR MOTIONPAD CONTROLLER DESIGN

IV. DESCRIPTION OF TASKS FOR WINTER QUARTER

V. WEEKLY SCHEDULE FOR WINTER QUARTER

VI. GANTT CHART FOR WINTER QUARTER

VII. ACTION ITEMS FOR WINTER QUARTER

VIII. MATERIAL PROPOSAL FOR CONTROLLER DESIGN


I. INTRODUCTION:

I am, hereby, requesting to work on this project and to deliver an individual functional product at the end of the Winter Quarter. I have experience working with microcontroller, C language, and servo-motors. I have the broad knowledge for electronic circuitry and signal processing. I would be able to complete this project efficiently and successfully within the timeframe given.

Included in this report is a detail analysis of the MotionPad design. It contains labeled sketches and descriptions about each sub-components of the entire design. It also contains an extensive list of motion commands that will be accomplished by the controller. In addition to the list of motion commands, there is a schematic of X, Y, and Z coordinate system that define different MotionPad’s motion commands.

Furthermore, included in this report is also the descriptions of the tasks that will be completed during Winter Quarter. A series of mechanical design analysis, electronic circuitry analysis, software architectural analysis, and software simulation analysis will be conducted to ensure the feasibility and the viability of the conceptual design.At the final phase of this project, the final prototype will be capable of interfacing with the actual ARDVAC system, and be able to have optimal control of the movements of the nozzle.

Lastly, a list of action items and material proposal are included for ensuring a smooth preparation for Winter Quarter. Both items are the initial assessment of the current project status and may be modified as the Winter Quarter proceeds.

This report ensures that I will be able to complete the project on time and have a final prototype by the end of Winter Quarter. This report clearly describes my plans and the steps toward building and testing the prototype to reach the optimal mechanical, electrical, and software system design. Again, please let me know if you have any questions. I thank you for your valuable time reading this report.


II. ENGINEERING PROBLEM

Image 1: Debris on the shoulder of a Highway

Image 2: ARDVAC Nozzle at Work (with boom extended)


Image 3: ARDVAC Nozzle at Work


III. NOZZLE STRUCTURE

Image 4: ARDVAC Nozzle Terminologies


IV. RESEARCH

Image 5: Old Joystick

Image 6: Tractor Lever-Type Controller


Image 7: Street Fighter Type Gaming Joystick

Image 8: Aircraft Controller


Image 9: Another Aircraft Controller

Image 10: Racecar Gaming Controller


V. INITIAL CONCEPTS

1) Joystick:

Sketch 1: Joystick Design

Description: Because of the joysticks like controller is very popular in the gaming industry. Joystick such as the one for the street fighter is very good for constant uses. We added a button on the top of the joystick as a safety. With couple circular buttons as common command buttons such as left and right motion, forward and backward motion, rotation, and tip movements.


2) Tilting Pad:

Sketch 2: Tilting Pad Design

Description: Because we need something that is very intuitive and simple that does not put extra strain on the user. We came up with a pad for the user’s hand. User can simply lay their hand in a relax position on the pad and control the movement by tilting left and right or forward and backward.


3) Mouse:

Sketch 3: PC Mouse Design

Description: The mouse design came to realization is because nowadays people are accustomed to using mouse for daily computing. So a mouse design would be very familiar controller for the user already, so the user does not have to learn new methods of using the controller. The mouse two button control is the safety feature button. So when the operator need to perform certain movement the operator would have to hold on to the left button and move the mouse, or hold on to the right button and move the mouse elsewhere.


4) Dials:

Sketch 4: Moving Dials Design

Description: Dials are very useful to control sensitive movements because of its incremental ticks. It is easy to control 1 dimension motion. Initial design has two dials: one for left and right movement and one for forward and backward motion.


VI. REVISION AND REFINEMENTS: 1) 2nd Generation Touch Pad

Sketch 5: 2nd Generation Touch Pad Description: The MotionPad design is had very good feedback from both Professor and Sponsor. Its novel and creative aspects standouts and the feasibility of making this design is well. Because our Sponsor would want to add multiple degrees of freedom into the joysticks, we added more functionality. In addition to the previous tilting pad design we added a gel pad for optimal wrist movements. One of the criteria our sponsor emphasized was that we want to minimize the amount of buttons and maximize the amount of function the MotionPad can perform; and we did that for this 2nd generation MotionPad design. Our sponsor also want to focus more on one handed motion. We had to focus on nozzle tip movements and rotation of the nozzle at this point.


Initial Prototyping: Description: In order to better understand the ergonomic and the feasibility of our concepts, we made some prototype to perform some testings. The MotionPad Design standouts but a few modifications are still needed, such as higher pad position and smaller pad area. 1) MotionPad Design:

Image 11: MotionPad Form-Factor in Cardboard and Aluminum Foil


2) Mouse Design

Image 12: Mouse Design Form-Factor in Aluminum Foil and Play-Doh


3) Joystick Design

Image 13: Joystick Form-Factor in Aluminum Foil, Play-Doh, and Paper Bag


II. DESCRIPTION OF THE CONTROLLER DESIGN--THE MOTIONPAD:

Here is an overview description and a sketch of the Motion Pad design (Sketch 1). It includes three compartments: 1) a Main Pad, 2) a Mouse Control, and 3) a Center Panel. The design is simple, yet, is multi-functional that completes all the required tasks requested by the Sponsor. The MotionPad motion is very fluid, and the commands are easy to learn.

Main Pad

The Main Pad intuitively controls many motions of the boom and nozzle structure. The Main Pad is situated on top of a spring and damper system for two degrees of freedom control. When the operator wants to turn the nozzle to the left or right, they would only need to shift their hand to the left or to the right. When the operator wants to move the boom up or down, they would only need to shift their hand forward or backward (just like operating an airplane).

Sketch 6: The MotionPad Overview


Sketch 7: Cross-sectional View of the MotionPad

Mouse Control

It has a Mouse Control (an off the shelf wireless mouse) on the top of the Main Pad; the mouse has the standard 2 click buttons and a rotating wheel in the middle (see Sketch 3). In Boom Mode, the rotating wheel allows the boom to move forward or backward by rolling the rotating wheel forward or backward; in Nozzle Mode, clicking the rotating wheel will allow the nozzle to rotate 360 degrees clockwise, but the direction can be changes by left clicking or right clicking the mouse buttons.

Sketch 8: Mouse Control


Center Panel

The Center Panel has minimal buttons for easy operation and a cleaner look compared to original ARDVAC controller (see Image 1). The panel consists of a standard On/Off button, an Emergency button, and also a Boom/Nozzle Mode switch.

Sketch 9: Center Panel

Image 10: Original ARDVAC Controller and Panel


Compartment Interface

The Microsoft Surface tablet contains installed software that runs pre-programmed C Language codes. The C code will read the accelerometer data within the tablet, the command from the Mouse Control through wireless connection to a USB connector, and also the command from the Center Panel through the USB cable. The C codes will then return different commands that correspond to a specific voltage power; this allows actuator to control the movement of the nozzle and boom.


III. LIST OF COMMANDS FOR MOTIONPAD CONTROLLER DESIGN:

Center Panel Buttons: # of Commands Commands Functions On/Off Buttons 2 Push Down Once On

Push Down again after being On Off

Nozzle/Boom Switch 2 Left Switch Nozzle Mode

Right Switch Boom Mode Emergency

Button 1 Push Down Once Shutoff Power Electric Nozzle Mode: # of Commands Commands Functions

Nozzle Tip 2 Shift Left Swing Tip to the Left Shift Right SwingTip to the Right

Nozzle Rotation 3 Click Rotating Wheel Rotate Nozzle Clockwise

Click Rotating Wheel, and then Left Click Mouse

Rotate Nozzle Counterclockwise

Click Rotating Wheel, and then Right Click Mouse Rotate Nozzle Clockwise

Nozzle Hydraulics 2 Shift Left Swing Nozzle to the Left

Shift Right Swing Nozzle to the Right

Nozzle Elevation 2 Shift Forward Elevate Nozzle Up

Shift Backward Elevate Nozzle Down Boom Mode: # of Commands Commands Functions

Boom 6 Shift Left Swing Boom to the Left Shift Right Swing Boom to the Right Shift Forward Move the Boom Forward

Shift Backward Move the Boom Backward

Rotating Wheel Forward Elevate Boom Up Rotating Wheel Backward Elevate Boom Down


Sketch 11:MotionPad Motion Command Coordinate System


IV. DESCRIPTION OF TASKS FOR WINTER QUARTER:

Three analyses will be performed: 1)Mechanical Design Analysis, 2) Software Architectural Analysis, and 3) Software Simulation analysis.

Mechanical Design Analysis

Mechanical Design Analysis will include designing the mechanical aspect of the controller. It includes mainly the spring and damper system optimization process (to allow movements for shifting left or right and forward or backward, and also to filter or isolate the vibration from the operating vehicle). In addition, the accelerometer X, Y, and Z axis coordinates calculations, life-cycle analysis, MotionPad enclosure design, and Mouse Control base design will be explored.

Electronic Circuitry Analysis

Electronic Circuitry Analysis will include integrating essential electrical components with the mechanical aspect of the controller. It includes wiring the power electric, amplifiers, ADC/DAC converters, signal filters, and other essential electrical components to the mechanical system. A breadboard will be used to house these electrical components.

Software Architectural Analysis

Software Architectural Analysis will include designing the main software interface with the MotionPad accelerator. To elaborate on that, the main software will need to be designed to capture accurate X, Y, and Z data points and output a desiredvoltage level.C language will be the primary software language for this project.

Software Simulation Analysis

After the completion of the mechanical design analysis and software architectural analysis, the prototype will be tested under simulation software. This allows to test out the accuracy of the controller and the precision of the controller. Constantly testing with the simulation software allows for quick error reductions orimportant modifications to the design.

Controller and ARDVAC Interface

After numerous revisions and simulations of the prototype, the controller will be design to connect with the ARDVAC interface and electrical component specifications. The controller will then be attached to the ARDVACto test the effectiveness of the controller and to make further modifications towards the creation of the final prototype.


Sketch 12: Software Simulation Schematic


V. GANTT CHART FOR WINTER QUARTER:

1/6-1/10

1/13-

1/17

1/20-

1/24

1/27-

1/31

2/3-

2/7

2/10-

2/14

2/17-

2/21

2/24-

2/28

3/3-

3/7

3/10-

3/14 Week 1 2 3 4 5 6 7 8 9 10

A. Rough Mechanical Design and Electrical Circuitry Analysis Completion B. Rough Software Architectural Construction C. Rough Prototype Completions and Testing with Simulation Software D. Improvement on Mechanical Design and Electrical Circuitry Analysis E. Improvement on Software Architectural Construction F. Prototype Testing with Simulation Software G. Transition to ARDVAC Interface H. Final Mechanical Design and Electrical Circuitry Analysis I. Testing with ARDVAC J. Final Software Architectural Construction K. Final Prototype Testing with ARDVAC


VI. ACTION ITEMS FOR WINTER QUARTER:

Item 1.

Description: 10 Minute Presentation with Industry Engineers

By Whom: Jake Wang

When: Every Wednesday from 12:30 p.m. to 12:40 p.m.

Item 2.

Description: Meeting with Sponsor Wil White

By Whom: Jake Wang

When: Every Week, but timeframe TBD.

Item 3.

Description: Final Prototype Completion

By Whom: Jake Wang

When: By the end of Winter Quarter.

Item 4.

Description: Final Report Due

By Whom: Jake Wang

When: By the end of Winter Quarter.


VII. MATERIAL PROPOSAL FOR CONTROLLER DESIGN:

Below is a list of potential material required to complete the ADRVAC controller by the end of Winter Quarter. Alternative material can be selected in lieu of the one listed below. The unit price and total price are only estimated cost; so they do not reflect the actual cost of the final prototype.

No. Name # of Unit Unit Price Estimated Price 1 Microsoft Surface Tablet 1 $299.00 $299.00 2 Surface Mini USB Converter 1 $26.99 $26.99 3 USB Hub (allow connection up to 4 USBs) 1 $29.99 $29.99 4 Wireless Mouse with Center Rotating Wheel 1 $15.88 $15.88 5 Spring and Damper System 4 N/A N/A 6 Power Electric 1 N/A N/A 7 ADC and DAC Converter 1 N/A N/A 8 Microcontroller 1 $26.99 $26.99 9 Off the Shelf On/Off Button 1 N/A N/A

10 Off the Shelf Switch 1 N/A N/A 11 Off the Shelf Emergency Button 1 N/A N/A 12 3D Printed Microsoft Surface Case 1 $0.00 $0.00 13 3D Printed Mouse Base 1 $0.00 $0.00 14 Miscellaneous Cables and Wiring Components N/A N/A N/A 15 I/O Connectors N/A N/A N/A

Estimated Total Price $398.85


VIII. PRESENTATION OF THE FINAL PROTOTYPE:

A) WHAT IS A MotionPad?

It is a product that allows users intuitive, one-handed motion control of their blue-controlled accessories, like a Sphero, or a RC car. You can simply make a Sphero turn, by shifting or tilting your hand left, right, forward, backward, or in a circle on the MotionPad.

Image 1: Workstation for Creating the MotionPad


Image 2: Completion of the Homemade MotionPad

B) Equipments Used for Creating the Homemade MotionPad:

Image 3: UC Davis Engineering Student Startup Center's Equipment: 3D Scanner


Image 4: UC Davis Engineering Student Startup Center's Equipment: 3D Printer

Image 5: UC Davis Engineering Student Startup Center's Equipment: Shopbot


C) MotionPad's Motion Control DEMO:

Image 6: MotionPad's Neutral Position

Image 7: MotionPad Controlling the Motion of the Sphero


Image 8: MotionPad Tilts Forward

Image 9: MotionPad Tilts to the Right

D) SPECIAL THANK YOU:

Special thanks to Wil White, Development Engineer at UC Davis, Bo Fu, Ph.D. Mechanical Engineering student at UC Davis, and Lucas Arzola, Director at the Engineering Student Startup Center at UC Davis.


Date post:	24-Jul-2015
Category:	Engineering
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