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MSD-II FINAL PROJECT PRESENTATION

Motion Tracking Technology Evaluation

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AGENDA

Project Status

Individual Team Member vs. Norms and

Values

Deliverables Checklist

EDGE Review

Rubric Review

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PROJECT STATUS Sensors:

With additional filtering and signal processing overall accuracy could be much improved.

Overall, phase I complete Test fixtures are designed and built MCU:

Can now record data to microSD card Data can be transferred to PC All sensors were connected and tested for

compatibility and function.

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INDIVIDUAL TEAM MEMBERS STATUS

What were your personal responsibilities and where are you against your plan (compare to your original plan)?

Have you utilized your plan effectively in MSD II and is your current assessment of status realistic?

Have you documented all related work and data?

What would you have done differently during the quarter (as an individual) knowing what you know now?

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MEMBER VS. NORMS

Punctual

Thorough

Accurate

Professional and Ethical

Demonstrates the core RIT values of SPIRIT

Committed

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DAVID MONAHAN, ME

Overall Responsibilities Project Manager

Assemble & execute weekly meeting agendas Keep track of what team needs to do on a week-to-

week basis Ensure major deliverable compliance- all bases

covered? Expected MSD2 Responsibilities (from MSD1 Project

Review) Start Building Test Fixtures Verify Accuracy of test fixtures with multiple

tests Facilitate merging of P10010/P10011 testing

efforts Concept Generation: Shock and Impact testing

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DAVID MONAHAN, ME Status

Continued project manager role First 5 weeks: mostly individual testing/construction Final 5 weeks: much heavier schedule & management

Brainstormed alternative fixtures during weeks 1-3 Goniometer & Flex Fixture delivered Week 5/6

Led Technical Paper efforts Performed Flex Fixture & Shock Testing Developed Pendulum model & MATLAB code Ultimately did much more data manipulation than

expected during final two weeks Mostly due to late introduction of Pendulum fixture

Documentation Fixture Manufacturing Plans Fixture Procedures MATLAB Code & Figures

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DAVID MONAHAN, ME

Recommendations Future leaders:

Tighter management during first 5 weeks Ensure all deadlines are met! Ripple effects undesirable

Test Fixture: Controllable input Labview? GUI: both actual model and measured sensor data tracked

& analyzed simultaneously Provides variety of scenarios Take advantage of Sara’s spine fixture if possible!

MATLAB Better way of integration for non harmonic data Trapz function? Simulink model?

Consult with resident MATLAB experts (Crassidis)? Utilize alternative programming methods- C?

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JAMES STERN, ME

Responsibilities Sensor Interface Lead: Limb Kinematics,

Sensor Placement, Sensor Configuration. Liaison with Human Interface Team. Sensor Technology Assistant. Enclosure Assistant.

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JAMES STERN, ME MSD2 Plan

Order parts for Test methods Start Building Test Fixtures Verify Accuracy of test fixtures. Help with testing sensors Integrate sensors and microcontroller and repeat tests. Include Human Interfaces enclosures with sensors testing Test sensors for durability with cycle testing and shock tests.

Status Parts were received and tests fixtures were built (modifications

needed to be mad to original plans) Test fixtures were verified Flex sensors were tested, and data was analyzed to correlate voltage

to angles using Trendline in excel Flex sensor was tested using p10011 under-armor sleeve. Flex sensors went through cycle analysis (1000 cycles) Ordered 2 * DE-ACCM3D2 to complete shock testing. Could

withstand of 500G’s of shock (Test included p10011 enclosure).

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JAMES STERN, ME Recommendations

Start building of test fixture in MSD1, would have given more time for testing.

Implement rotational servo motors on fixture so the tester can rotate sensors at a set rotational speed.

Make fixture out of non metallic material, or at least cover it with a rubber.

Design a easier and more universal way of attaching sensors to test fixture.

Should have thought about acceleration test methods in MSD1

Impact Test, Not Shock test to see if enclosure could withstand an impact and keep sensor safe.

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CORY LAUDENSLAGER , EE

Responsibilities MCU/Sensor Interface Lead: Ensure Sensor

Technologies can Interface to MCU Sensor Selection Assistant MCU Selection Assistant Battery Analysis BOM Creation / Ordering Parts Sensor Testing / Test Plan

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CORY LAUDENSLAGER, EE MSDII Plan

BOM Creation / Select Vendors / Order Parts Soldering of Headers on Sensors DE-ACCM2G2 Test / Test Procedure / Data Analysis /

Future Recommendations Ultra-Thin IMU Test / Test Procedure / Data Analysis /

Future Recommendations Status

All Parts Ordered and Received on Time All Sensors Soldered and Powered Up DE-ACCM2G2- Steady State/Position Analysis

Completed and Sensor Document Created Ultra-Thin IMU- Steady State/Rotation/Position

Analysis Completed and Sensor Document Created

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CORY LAUDENSLAGER, EE

Recommendations

Future Data Analysis is Required-Point by Point Integration for Both

Rotation and Position

A More Efficient Means to Display Data for the User

Kalman Filtering to Account for Drift in Gyroscopes

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JANVI GAUTHAMAN, EE(BIOMED)

Responsibilities Sensor Technology Lead

Sensor research, Sensor selection, Sensor Evaluation, Sensor review (with Dr. Phillips), Final Sensor Selection

Test plan (MSDI) sensors (on a component level) Execution (MSDII) of testing for sensors (on the sub-

system level- integrating with the MCU) Testing the Atomic 6DoF IMU, and the Flex Sensor.

Documentation Lead Ensuring that all documents are on EDGE Taking minutes during meetings, updating agenda

(MSDI)

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nJANVI GAUTHAMAN, EE

MSDII Plan Test the Atomic sensor for basic functionality Check the Atomic sensor for Accuracy Test the Atomic with the MCU for integration.

Test the Flex sensor for basic functionality Check the Flex sensor for Accuracy Test the Flex sensor with the MCU for integration. Test the Flex sensor for accuracy at different

bend positions.

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nJANVI GAUTHAMAN, EE

Status MSDI: Extensive research on market solutions and technology

solutions, Final sensors were chosen bought, Sensor Feasibility for every sensor was done, risks were updated consistently. Feedback from previous presentations were considered and action items were added as needed

MSDII: All documentation of knowledge, data, results, write-

ups are thoroughly uploaded to EDGE. Atomic IMU was tested for its basic functionality on three

fixtures. All data was analyzed –pendulum, was most useful. Flex sensor was tested for

accuracy bend position life cycle With P10011 interface MCU interface (possibly adding noise)

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JANVI GAUTHAMAN, EE

Recommendations Test the Atomic with a constant acceleration,

velocity, position fixture/ motor – so as to lessen some of the variables.

Build fixtures beforehand. Find more applications of, and documents, go

through source codes of the Atomic to better understand it. (Lot of functions, poor marketing/documentation).

Flex sensor- better interface. Try the more expensive flex sensor for highly

accurate applications.

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BRIAN GLOD, CE Responsibilities

Data Lead Interpret and filter sensor data Convert data to desired format for storage Design PC user interface Analyze sensor data (degrees, angles, etc)

Sensor Interface Assistant Assist EE’s with sensor/MCU interface circuitry

Communication Assistant Assist with storage of sensor data Assist with PC/MCU communication

EDGE/SVN janitor Assist David with organization Fix it when it’s broken

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BRIAN GLOD, CE MSD2 Plan

Order MCU components (before break) MCU, cables, power supplies, etc (see Electrical BOM)

Become familiar with the Arduino IDE Write small programs for testing interrupts, ADC and

DIO operations, microSD card read/write operations Work closely with Assis in designing the MCU

software Break down the programming into small blocks Assign programming tasks to Assis and myself

Maintain communication with EE’s for sensor integration Assist in testing and sensor data analysis

Continue to keep the Risk Assessment document up-to-date

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BRIAN GLOD, CE

Status MCU logs data to microSD card

Selectable inputs from 0 to all 16 analog channels Worst-case sample rate of 240 Hz for all 16 channels Comma separated values (CSV) format

Contains raw acceleration data, may be converted to other formats as necessary (ie: C3D)

Developed PC / host software that reads the sensor data file and converts the digital values back into analog voltages Helps tremendously in data analysis – using these

values, angles may be calculated (Cory / discrete integration)

Assisted with sensor data acquisition Debugging of circuitry and code

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BRIAN GLOD, CE

Recommendations Use interrupts for sampling ADC channels

Allows for other operations while waiting for a sample Write to micro-SD, on-chip data analysis, etc

May be able to use a plane old data logger Much smaller; but…ADC inputs? Speed?

Filter the digitized ADC values through a calibration curve to improve accuracy Currently off by as much as 50 mV – tens of degrees Full curve (1024 values?); or subset, say 512 values?

Smaller MCU with more ADC inputs (if possible) External / more accurate ADCs

May have to deal with custom PCB layout and high-frequency considerations

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ASSIS NGOLO, CE Responsibilities

Communications Lead Develop storage solution Interface SD card to MCU Design file format for storage for PC accessibility Capture and Coordinate Data Analyze collected sensor data

Microcontroller Assistant Assist EE’s with interfacing MCU to Sensos Assist EE’s in running sensor tests on MCU

Data Assistant Assist with general MCU programming

Project Plan Manager Keep tasks on schedule Fix it when it’s broken

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ASSIS NGOLO, CE MSD2 Plan

Perform research on storage interfacing methods

Look for an appropriate C/C++ libraries to use with micro SD card

Modify selected library for use with the ATmega1280

Create a CSV file format that make sit easy to identify data from each sensor along with a timestamp

Perform analysis on acquired data, to obtain velocity and displacement from acceleration

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ASSIS NGOLO, CE

Status Micro SD card interfacing successful Data logging successful

CSV file can be written and read from with ease FAT16 formatted SD card can be plugged into PC easily Matlab and MS Excel can access the CSV files easily

Data analysis successful Matlab analysis with double integration successful

Velocity determined from acceleration Displacement determined from velocity

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ASSIS NGOLO, CE

Interrupts Avoid polling Improve performance

Dedicated data logging MCU Have more analog channels More precise Calibration curves to ADC values to increase

accuracy

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EDGE

Review as a team:https://edge.rit.edu/content/P10010/public/Home

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DELIVERABLES CHECKLIST & ONLINE STATUS

Customer Needs- Done

Engineering Specifications- Done

Risk Assessment- Done

Test Plan- Done

Previous Presentation Documents- Posted

Project Plan- Done

Other Deliverables??

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nCONCLUSIONS

DE Sensor Good for linear movements in determining position from

acceleration Atomic

Moderately accurate in finding position from acceleration. (<DE sensor, >Razor)

Has internal processor- not documented well Does not meet portability requirement

Razor Least accurate in determining position from

acceleration. Very accurate in determining rotational angles.

Flex Accurate in lab, but in reality best for repeated motions

where accuracy is not main function Cheap, durable, easy to use, portable-satisfies all major

customer needs (at least JJ)

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RUBRIC REVIEW

Go over rubric elements as a group

Questions?Concerns?