S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin ...

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4 3 2 1 A A Brain Processing and Actuation VCC #RST/NMI N0#RST/NMI TCK N0TCK TMS N0TMS TDI TDO/TDI N0TDO/TDI GND N0GND GND N0GND Rrst 47K VCC VCC U1 MSP430F1610/11 P0U1058 N0#RST/NMI P0Rrst01 P0Rrst02 P0U1057 N0TCK VCC P0Cvcc202 P0Cvcc102 Cvcc2 0.1uF Cvcc1 10uF 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 P0Cvcc201 P0Cvcc101 P0U1049 P0U1050 P0U1052 P0U1053 P0U1054 N0TDO/TDI P0U1055 N0TDI P0U1056 N0TMS GND N0GND GND N0GND P0U1062 P0U1063 P0U1059 P0U1060 P0U1061 P0U1064 VCC P0U1048 B 1 48 P0U101 DVcc P5.4/MCLK B P0U1047 2 P0U102 47 P6.3/A3 P5.3/UCLK1 P0U1046 3 P0U103 46 P6.4/A4 P5.2/SOMI1 P0U1045 4 P0U104 45 P6.5/A5 P5.1/SIMO1 Cx1 P0U1044 5 44 P0U105 XTAL1 P6.6/A6/DAC0 P5.0/STE1 P0U1043 6 43 P0Cx101 P0Cx102 P0U106 P6.7/A7/DAC1/SVSIN P4.7/TBCLK P0U1042 7 P0U107 42 12pF VREF+ P4.6/TB6 P0U1041 8 P0U108 41 XIN P4.5/TB5 L1 P0U1040 9 40 P0U109 Y1 XOUT P4.4/TB4 Rl1 1 P0L101 Cx2 GND N0GND P0U1039 10 39 P0Rl101 P0Rl102 B P0U1010 VeREF+ P4.3/TB3 P0U1038 GND 11 38 100 N0GND P0U1038 VCC P0Cx201 P0Cx202 P0U1011 VREF-/VeREF- P4.2/TB2 P0U1037 D0 N0D0 P0U1037 12 37 Rl2 P0L104 2 P0L102 4 P0U1012 12pF P1.0/TACLK P4.1/TB1 P0Rl201 P0Rl202 P0L102 G P0U1036 D1 N0D1 P0U1036 13 P0U1013 36 P1.1/TA0 P4.0/TB0 100 P0U1035 D2 N0D2 P0U1035 14 35 P0U1014 P1.2/TA1 P3.7/URXD1 Rl3 3 P0L103 P0U1034 D3 N0D3 P0U1034 15 34 P0Rl301 P0Rl302 R P0U1015 P1.3/TA2 P3.6/UTXD1 P0U1033 D4 16 33 200 N0D4 P0U1033 P0U1016 P1.4/SMCLK P3.5/URXD0 LTST-C17FB1WT AVcc DVss AVss P6.2/A2 P6.1/A1 P6.0/A0 #RST/NMI TCK TMS TDI/TCLK TDO/TDI XT2IN XT2OUT P0U1051 P5.7/TBOUTH/SVSOUT P5.6/ACLK P5.5/SMCLK 1 P0Y101 2 P0Y102 C C P0U1017 P1.5/TA0 P0U1018 P1.6/TA1 P0U1019 P1.7/TA2 P0U1020 P2.0/ACLK P0U1021 P2.1/TAINCLK P0U1022 P2.2/CAOUT/TA0 P0U1023 P2.3/CA0/TA1 P0U1024 P2.4/CA1/TA2 P0U1025 P2.5/Rosc P0U1026 P2.6/ADC12CLK/DMAE0 P0U1027 P2.7/TA0 P0U1028 P3.0/STE0 P0U1029 P3.1/SIMO0/SDA P0U1030 P3.2/SOMI0 P0U1031 P3.3/UCLK0/SCL P0U1032 P3.4/UTXD0 Figure C-11: Brain Processing 162 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 SCL SDA #PWREN SI/WU #RXF #TXE WR #RD D7 D6 D5 N0D7 N0D6 N0D5 N0SCL N0SDA N0WR N0#RXF N0#TXE N0#RD N0#PWREN N0SI/WU Power JTAG U5 +5 Programmer TDO/TDI N0TDO/TDI VCC N0VCC 2 P0U502 P0U501 1 P0Programmer01 1 2 P0Programmer02 VIN TDI N0TDI P0Programmer03 Ci5v Co5v 3 4 P0Programmer04 TMS N0TMS GND P0Programmer05 5 6 P0Programmer06 0.1uF 0.1uF TCK N0TCK P0Programmer07 7 8 P0Programmer08 GND N0GND PWR P0Programmer09 9 10 P0Programmer010 #RST/NMI N0#RST/NMI VBatt N0VBATT 5V P0Programmer011 11 12 P0Programmer012 1 P0PWR01 P0Programmer013 GND N0GND P0Programmer013 13 14 P0Programmer014 2 P0PWR02 GND Header 7X2 Header 2 U4 VCC 2 P0U401 P0U402 1 VIN D Ci3v Co3v D GND Title 0.1uF 0.1uF Size Number Revision 3.3V Letter GND Date: 7/21/2006 Sheet of File: C:\Documents and Settings\..\Brain.SCHDOCDrawn By: 1 2 3 4 P0Co3v01 P0Co3v02 P0Co5v01 P0Co5v02 P0U403 P0U503 3 VOUT N0VBATT N0VBATT P0Ci3v01 P0Ci3v02 P0Ci5v01 P0Ci5v02 VBatt VBatt 3 VOUT
4 3 2 1 A A Brain Communications Active I2C Pullup USB B +5 B +5 +5 VCC U6 U3 Ravcc 3 P0U604 4 MO1 N0MO1 Rsda P0U603 +5 E2 C2 P0Rsda02 P0Rsda01 CS 1 8 470 Cusbv1 Cusbv2 MO1 N0MO1 P0U602 2 B 200 N0CS P0U308 P0U301 CS VCC 10uF 0.1uF 1 P0U605 5 SDA N0SDA P0U601 E1 C1 SK N0SK 2 P0U307 7 GND N0GND P0U302 CLK NC Cavcc +5 VCC VCC XP02401 +5 DI 3 6 0.1uF VCC U7 P0U306 P0U303 DI NC +5 3 P0U704 4 MO2 N0MO2 Rscl P0U703 E2 C2 P0Rscl02 P0Rscl01 Rdo2 Rdo DO 4 5 MO2 N0MO2 2 N0DO P0U305 P0U702 DO GND B 200 P0Rdo201 P0Rdo202 P0Rdo01 P0Rdo02 P0U304 U2 1 P0U705 5 SCL N0SCL P0U701 10K 2.2K E1 C1 FT245BM 93LC46B C3v VCC XP02401 USB 6 P0U2025 25 D0 N0D0 P0U206 P0C3v02 P0C3v01 3V3OUT D0 P0USB01 1 P0U2024 24 D1 N0D1 VCC 33nF D1 P0USB02 2 Rdm 27 8 P0U2023 23 D2 N0D2 P0U208 D- P0Rdm02 P0Rdm01 USBDM D2 P0USB03 3 P0U2022 22 D3 N0D3 D+ D3 P0USB04 4 Rdp 27 7 P0U2021 P0U207 21 D4 N0D4 P0U207 GND P0Rdp02 P0Rdp01 USBDP D4 P0U2020 20 D5 N0D5 CN-USB-B Rrsto1.5K 5 D5 P0U2019 P0U205 19 D6 N0D6 P0U205 P0Rrsto02 P0Rrsto01 C #RSTOUT D6 Skin Connection Header Cxu1 12pF 4 P0U2018 18 D7 N0D7 C P0U204 P0Cxu102 P0Cxu101 #RESET D7 Skin Connector XIN2 27 GND N0GND N0XIN2 P0U2027 P0Skin XTIN 4 Connector04 Y2 P0U2016 16 #RD N0#RD VBatt N0VBATT P0Skin #RD 3 Connector03 Rru1 P0U2015 15 WR N0WR SCL N0SCL P0Skin WR 2 Connector02 10K XOUT2 N0XOUT2 28 P0U2014 14 #TXE N0#TXE SDA N0SDA P0U2028 P0Cxu202 P0Cxu201 P0Skin XTOUT #TXE 1 Connector01 Cxu2 12pF CS N0CS 32 P0U2012 P0U2032 12 #RXF N0#RXF P0U2032 EECS #RXF SK N0SK 1 Header 4 P0U201 EESK Rru2 DI N0DI 2 P0U2011 P0U202 11 SI/WU N0SI/WU P0U202 EEDATA SI / WU 15K GND N0GND 31 P0U2010 P0U2031 10 #PWREN N0#PWREN P0U2031 TEST #PWREN P0Cusbv202 P0Cusbv102 P0Cusbv201 P0Cusbv101 P0Cavcc02 P0Ravcc01 P0Ravcc02 P0Cavcc01 N0DI 30 3 26 13 P0U203 P0U2013 P0U2026 P0U2030 AVCC VCC VCC VCCIO P0Y202 P0Y201 1 2 Figure C-12: Brain Communications 163 P0Rru201 P0Rru202 P0Rru101 P0Rru102 AGND GND GND P0U2017 P0U209 P0U2029 29 9 17 D D Title Size Number Revision Letter Date: 7/21/2006 Sheet of File: C:\Documents and Settings\..\Brain.SCHDOCDrawn By: 4 3 2 1
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Author S.N.A.K.E.: A Dynamically Re
Page 5:
S.N.A.K.E.: A Dynamically Reconfigu
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Table of Contents Abstract 3 Acknow
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List of Figures 2-1 Created by MIT
Page 13:
E-1 OpenGL Control Header File . .
Page 17 and 18:
Chapter 1 Introduction “Imaginati
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The current project, named S.N.A.K.
Page 21:
Hardware Each Skin Patch is compose
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living tissue. Particularly in the
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Figure 2-2: Leonardo’s Hand great
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Artificial Sensate Skins elsewhere
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2.1.2 Ultra-dense Sensor Arrays Thi
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2.2 Flexible Circuits Although, not
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2.2.2 Other Technologies Figure 2-6
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human skin. The following design pr
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(a) Skin Patches as data extraction
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Figure 3-3: I 2 C Routing pattern T
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3.2.2 Peer to Peer As we already me
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5. Audio: by adding a MEMS micropho
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Table 3.1: Material thicknesses and
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(a) Node Front (b) Node Back Figure
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Figure 3-9: Skin Patch mechanical t
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used, which only further complicate
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8. Teardrops and filleting were add
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(a) 7.4V, 2.2mAh Li-ion Battery (b)
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in more detail in the Results Chapt
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has a 30mA forward current with a f
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Figure 3-14: Strain gage layer prot
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an unbalanced Wheatstone bridge, fr
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Figure 3-16: QTC response curve for
Page 68 and 69:
(a) Prototype boards used to calibr
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whisker is epoxied to the package o
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Sound The only sensing modality add
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Figure 3-20: Brain regular PCB fabr
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3.4.3 Communications unit The Commu
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Chapter 4 Software “A Scientist d
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Networks. Why is this relevant? Mai
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Figure 4-1: Bootloader memory map C
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Bit Flag Name Description 0x01 FILE
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Figure 4-3: Sampling timing example
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We also mentioned before that there
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Code Instruction Description 0xA0 R
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Component Description 1 Indicates t
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last chapter. Figure 4-5: Automatic
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An important point to stress is tha
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(a) Rotation control (b) Zooming co
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4.3 Communications Software The las
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4.3.2 Peer to Peer Peer to peer com
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Chapter 5 Analysis of Results and E
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Figure 5-1: Stress concentration po
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of the assembled skin patch don’t
Page 111 and 112: Node SG1 SG2 R(X) R(Y) Δ(X) Δ(Y)
Page 113 and 114: Or, ∆R = R3 R3 R3 + RC (5.2) Howe
Page 115 and 116: R3 Microstrain 162Ω −99.7337969
Page 117 and 118: Figure 5-3: Strain Gage electronic
Page 119 and 120: (a) Data from both strain gages (b)
Page 121 and 122: (a) Pressure data being extracted f
Page 123 and 124: many of these did not work as expec
Page 125 and 126: Data plots were also extracted for
Page 127 and 128: (a) Temperature sensor data plots (
Page 129 and 130: Figure 5-12: Raw microphone data wi
Page 131 and 132: (a) Activity sensor data (b) Whiske
Page 133 and 134: 5.3 Performance Metrics We have pre
Page 135 and 136: (a) I 2 C data when a 1500Ωs resi
Page 137 and 138: Component # per node Current consum
Page 139 and 140: Finally, since power is readily ava
Page 141 and 142: Chapter 6 Conclusions and Future Wo
Page 143 and 144: surface can be used to sense pressu
Page 145 and 146: Implement P2P Communications: curre
Page 147 and 148: Appendix A Abbreviations and Symbol
Page 149 and 150: Appendix B Bill of Materials 149
Page 151 and 152: Appendix C Schematics and PCB Layou
Page 153 and 154: 1 1 2 2 3 3 4 4 D D C C B B A A Tit
Page 155 and 156: Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
Page 157 and 158: P0Cin02 P0East06 P0North06 P0South0
Page 159 and 160: Cain P0C ain01 P0Cain02 L1 P0L101 P
Page 161: Figure C-10: Node Bottom Overlay 16
Page 165 and 166: C3v P0C3v01 P0C3v02 Cavcc P0Cavcc01
Page 167 and 168: Appendix D Firmware 167
Page 169 and 170: C:\Documents and Settings\Gerardo\M
Page 183 and 184: Appendix E PC Code 183
Page 185 and 186: 1 c:\Documents and Settings\Gerardo
Page 201 and 202: 12 c:\Documents and Settings\Gerard
Page 207 and 208: Bibliography [1] John C. Ansel. Ski
Page 209 and 210: [33] Joseph Jacobson, B Comiskey, C
Page 211: [68] Vilis Tutis. The physiology of
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