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Dr. Armando Barreto Digital Signal Processing Laboratory, FIU PowerPoint Presentation
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Dr. Armando Barreto Digital Signal Processing Laboratory, FIU

Dr. Armando Barreto Digital Signal Processing Laboratory, FIU

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Dr. Armando Barreto Digital Signal Processing Laboratory, FIU

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  1. NSF Industry-University Cooperative Research Center for Advanced Knowledge Enablement at Florida International and AtlanticUniversities and Dubna International UniversityResearch Topic Presentation at IAB meeting Dr. Armando Barreto Digital Signal Processing Laboratory, FIU "Use of Miniature Inertial Measurement Sensors in a Virtual Reality Glove"

  2. Goals, Motivations, Challenges • "Fully tracked" glove – Multiple Potential Uses: • Human-Computer Interaction (input, ASL) • Virtual Reality … Robotics From: www.cse.unr.edu/~aerol/projecthome/hand_animation1.htm From: www.acceleglove.com

  3. Background & Related Research “Acceleglove” Only accelerometers

  4. Prospective Development: IM-Glove • NOTICE: 3-axis Digital Compass in the WRIST module

  5. Background: IMU Processing Gyroscope Integrate to get orientation Initial velocity Initial position Accelerometer Transform to local navigation frame Subtract gravity from vertical acceleration Integrate to get velocity Integrate to get position CHALLENGE: Because of the double integration required to obtain position, unavoidable errors tend to result in DRIFT IMUs for navigation and robotics frequently involve other sources of information ( GPS, cameras, etc.) to minimize the drift VELOCITY POSITION

  6. Adjustments to our approach from learning, so far • Focus on orientation – Avoid 2nd integration • Introduce geometrical constraints of glove / hand • Seek position estimate for WRIST module • “Residual Gravity” acts as OFFSET -> DRIFT • NEED FOR SENSOR INTEGRATION – DIGITAL COMPASS (Available in the wrist module)

  7. Platform Evolution = [1] Yost Engineering Embedded Sensor • 3-axis accelerometer • 3-axis (rate) gyroscope • 3-axis digital compass • Collected RAW data from accelerometer and gyroscope to attempt estimation of orientation and position

  8. Platform Evolution – [2] InvenSense MPU-6050 EVB • Evaluation board • 3-axis accelerometer & 3-axis gyroscope • I2C connection to external (sensor (s) )-For example, a 3-axis compass • Controlled by I2C master • Suggested by industry partner: Arduino “UNO”

  9. Platform Evolution [3]- Sparkfun: MPU-6050 breakaway board • Also contains Invensense MPU-6050 (3-axis Accelerometer; 3-axis Gyroscope)

  10. Dynamic Motion Processor (DMP) • InvenSense’s • “DMP” Dynamic Motion Processor : Uses information from accelerometer, gyroscope (and potentially external compass) • Yields “linear acceleration” and “gravity” separately

  11. Milestones, Deliverables, Budget[Per Year] Milestones & Deliverables: • Core research- 6 months • Demonstration- 3months • Report/paper - 3 months Budget: • Faculty time - $20,000 • Student time - $25,000 • Equipment, supplies, travel - $5000 • TOTAL: $50,000

  12. END – THANK YOU