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Oculus Crane

Oculus Crane

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Oculus Crane

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  1. Oculus Crane Crane Control System Operated by an Oculus Rift and a controller Barth, Thomas Dayani, Ahmad Yama Sauter, Christoph

  2. Outline • Introduction • Project Description • Motivation, Task, Goal • Architecture • Usage • Hardware • GUI • Software Challenges • Summary/Conclusion Oculus Crane

  3. Introduction Oculus Crane

  4. Introduction Oculus Crane

  5. Project Description • Motivation • Inovativesystemtorevolutionizethe human machineinteractions • Makecomplextaskeasiertounderstandand handle • be a pioneer and give thought-provoking impulses for new inventions and development • Task • Develop and construct a model system which simulates the real world environment and in where a user is able to control a crane with a controller and the Oculus Rift • Goal • establish a rudimentary but working version of the required crane system • control the crane conveniently • Universal, not proprietarysolution Oculus Crane

  6. Project Description Architecture • system depends on running application • All information exchanged with computer • Oculus Rift controls the respective camera system indirectly • Crane gets operated by the controller indirectly Oculus Crane

  7. Project Description Usage • ConfiguresystemwithJuho • Inputs, parameters, profiles • Oculus Rift • Sight, movements, widgets • Crane andcontroller • movements Oculus Crane

  8. Hardware requirements • Evaluation of methods to implement control • Rotation of boom • Position of crane trolley • Position of crane hook • Preconditions • None • „Control crane and communicate to PC“ Oculus Crane

  9. Architecture • Nostrictpreconditions / reqirements µC peripheral peripheral PC Juho peripheral peripheral Scopeofhardwarepart Oculus Crane

  10. Process • Theory • Reality Evaluate Test Develop Evaluate Test Develop Oculus Crane

  11. Evaluation Power Supply Others ? Additional functionalities Analog IO Estimate resources Choose µC PWM IO Standard IO IO functionalities Others ? Plan PCB Plan Software DC Motor driver Measure rotation Evaluate sensors and actors Measure trolley Measure hook Oculus Crane

  12. Chose µC • STM32F4 based processor • Free tool chain available • Tool chain already setup • Available • (Some) experience • LCD/Touch nice to have • PCB needed Oculus Crane

  13. Evaluatesensorsandactors • Sensor: Rotation of boom • Install potentiometer mounted to axis of rotation • Sensor: Position of crane trolley • Install light barrier counting holes in gear wheel • Sensor: Position of crane hook • Install light barrier counting holes in gear wheel Oculus Crane

  14. Evaluatesensorsandactors • Actor: DC motor drivers • Change Rotation direction by reversing polarity  H-bridge like relay circuit Oculus Crane

  15. Estimate Resources Oculus Crane

  16. Plan PCB • Failure in PCB planning would lead to major time delay • IO shortage due to favored stepper solution possible • Reduce PCB planning risk by • Creating more universal solution • Introducing additional µC as peripheral board  Plan and produce prototype PCB while evaluation still in progress Sensible decision. Stepper motors discarded later on Oculus Crane

  17. Plan Software • Peripheralsdrivers • Analog • PWM • USB • Serial • IO • ASCII based Protocol @value,…,vaue<EOL> • FreeRTOSals OS • (Some) Experience • OS handles implementation overhead to execute (pseudo) parallel processes • OS offers nice features (ITC) • Implementation as different tasks • Communication • Control rotation • Control trolley • Control hook Oculus Crane

  18. Test Development & Test Install sensor rotation Implement Code Install trolley Produce Baseboard Install hook Gather Parts Build DC Motor Driver Oculus Crane

  19. GUI • Output Window • HUD • Input devices • Cameras • OOR • Servos • Interface • Screen • Oculus Rift • Shader • Profiles Oculus Crane

  20. Juho • Output Window Oculus Crane

  21. Juho • Output Window Oculus Crane

  22. Juho • Output Window Oculus Crane

  23. Juho • HUD Oculus Crane

  24. Juho • Input device Oculus Crane

  25. Juho • Cameras Oculus Crane

  26. Juho • OOR Oculus Crane

  27. Juho • Servos Oculus Crane

  28. Juho • Interface Oculus Crane

  29. Juho • Screen Oculus Crane

  30. Juho • Oculus Oculus Crane

  31. Juho • Shader Oculus Crane

  32. Juho • Profiles Oculus Crane

  33. Software Challenges • Distortion • OOR Oculus Crane

  34. Distortion • Lenses in Oculus Rift cause distortion Oculus Crane

  35. Distortion Oculus Crane

  36. Distortion • CPU baseddistortion • Veryslow • Need tobedoneforeveryimagecomponent • GPU baseddistortion • Almostnodelay (high fps) • Can beappliedto WPF element Oculus Crane

  37. Distortion • Output Oculus Crane

  38. OOR • Detect objects based on color • Step 1: filter out unwanted color • Step 2: search for “blobs” • Step 3: give back position of “blob” Oculus Crane

  39. OOR • Filter colors Oculus Crane

  40. OOR • Search for blob Oculus Crane

  41. Summary/Conclusion • Task fulfilled • Working rudimentary solution to manipulate a toy with Oculus Rift • enhanced the controllability and perception • Further enhancements • Adaptableto a lotofconfiguration • Tons of thinkable applications • Teaching inexperienced personnel • Using a moving base/vehicle to reach hazardous areas • Usage of more hardware • LCD, LED, lights etc. • Wireless connections • Mobile applications Oculus Crane

  42. Backup Oculus Crane

  43. PCB Oculus Crane

  44. Steppers Oculus Crane

  45. Motor Driver Oculus Crane

  46. Control loops • Control Rotation • Read currentposition (analog value, meanover 128 samples) • Median overpast 21 cycles • Calculatedifference • Set velocityanddirection • Median andmeanneeded, reasonmaybevoltageswings in supplyvoltage  Nofurtherinvestigation Oculus Crane

  47. Control loops • Control trolley • Two-Point control • Control hook • Control goup, go down • Position is not measured due tomechanicaldifficulties • Estimationover time not possible Oculus Crane