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Mind-Controlled RC Car: Navigating with Brain Waves

The project showcases a revolutionary mind-controlled RC car, allowing users to operate it solely through brain waves and facial expressions. Utilizing the Emotiv EPOC neuro-headset, the vehicle interprets specific signals to move forward, turn left or right, or stop. The headset features 14 channels and communicates via a 2.4GHz processor. It requires a well-defined setup including a laptop with Intel components and a custom PCB for seamless operation. This project aims to explore the interface between human cognitive signals and robotic control, advancing accessibility in tech.

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Mind-Controlled RC Car: Navigating with Brain Waves

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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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