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

More documents

Recommendations

Info

3.4.3 Communications unit The Communications unit is made up by the I 2 C bus that connects it to a <strong>Skin</strong> Patch, and the USB link that connects it to a PC. Furthermore, the I 2 C module is composed of the active pull-up devices described before, a header to connect the brain to a <strong>Skin</strong> Patch, and the I 2 C module of the MSP430 microcontroller. The USB module is formed by the USB controller circuitry, the USB headers, and an external crystal. Active pull-up devices were created with two XP02401 dual PNP transistors connected as a current mirror, and a biasing resistor. The biasing resistor was chosen so that the current injected by the current mirror to each one of the two I 2 C lines was not over the allowed maximum input current of the MSP430 microcontroller (2mA). This can be easily calculated as follows: Imax > Vcc − 0.6V Rmin 3.3V − 0.6V Rmin > 2ma (3.2) (3.3) Rmin > 1350Ω (3.4) A 1.5KΩ resistor was then used for biasing the current mirror. USB communication was achieved thanks to FTDI’s FT245BM USB chip. This device is a USB to FIFO interface chip, that allows any microcontroller to easily have USB connectivity. The device requires its own clocking source, so a 6.000Mhz crystal is also included. Also, if the device is to be named and given a serial number 21 then an EEPROM must be used, and so a 93LC46B EEPROM chip from Microchip was also included. FTDI provides a very detailed design guide[12] for their chips, the Brain’s USB circuitry is based on their “self powered 3.3V example”. Finally, it would be prudent to mention that if multiple Brains will be connected to a PC, 21 This is usually done so that multiple devices of the same type can be later identified 76
a USB hub is needed. Although in this case the USB controller from the PC was used as the USB hub it is also possible to make each brain a USB hub, itself and daisy chain them one to one another. 77
Page 1:
Author S.N.A.K.E.: A Dynamically Re
Page 5:
S.N.A.K.E.: A Dynamically Reconfigu
Page 9 and 10:
Table of Contents Abstract 3 Acknow
Page 11 and 12:
List of Figures 2-1 Created by MIT
Page 13:
E-1 OpenGL Control Header File . .
Page 17 and 18:
Chapter 1 Introduction “Imaginati
Page 19 and 20:
The current project, named S.N.A.K.
Page 21:
Hardware Each Skin Patch is compose
Page 24 and 25:
living tissue. Particularly in the
Page 26 and 27: Figure 2-2: Leonardo’s Hand great
Page 28 and 29: Artificial Sensate Skins elsewhere
Page 30 and 31: 2.1.2 Ultra-dense Sensor Arrays Thi
Page 32 and 33: 2.2 Flexible Circuits Although, not
Page 34 and 35: 2.2.2 Other Technologies Figure 2-6
Page 36 and 37: human skin. The following design pr
Page 38 and 39: (a) Skin Patches as data extraction
Page 40 and 41: Figure 3-3: I 2 C Routing pattern T
Page 42 and 43: 3.2.2 Peer to Peer As we already me
Page 44 and 45: 5. Audio: by adding a MEMS micropho
Page 46 and 47: Table 3.1: Material thicknesses and
Page 48 and 49: (a) Node Front (b) Node Back Figure
Page 50 and 51: Figure 3-9: Skin Patch mechanical t
Page 52 and 53: used, which only further complicate
Page 54 and 55: 8. Teardrops and filleting were add
Page 56 and 57: (a) 7.4V, 2.2mAh Li-ion Battery (b)
Page 58 and 59: in more detail in the Results Chapt
Page 60 and 61: has a 30mA forward current with a f
Page 62 and 63: Figure 3-14: Strain gage layer prot
Page 64 and 65: an unbalanced Wheatstone bridge, fr
Page 66 and 67: Figure 3-16: QTC response curve for
Page 68 and 69: (a) Prototype boards used to calibr
Page 70 and 71: whisker is epoxied to the package o
Page 72 and 73: Sound The only sensing modality add
Page 74 and 75: Figure 3-20: Brain regular PCB fabr
Page 79 and 80: Chapter 4 Software “A Scientist d
Page 81 and 82: Networks. Why is this relevant? Mai
Page 83 and 84: Figure 4-1: Bootloader memory map C
Page 85 and 86: Bit Flag Name Description 0x01 FILE
Page 87 and 88: Figure 4-3: Sampling timing example
Page 89 and 90: We also mentioned before that there
Page 91 and 92: Code Instruction Description 0xA0 R
Page 93 and 94: Component Description 1 Indicates t
Page 95 and 96: last chapter. Figure 4-5: Automatic
Page 97 and 98: An important point to stress is tha
Page 99 and 100: (a) Rotation control (b) Zooming co
Page 101 and 102: 4.3 Communications Software The las
Page 103 and 104: 4.3.2 Peer to Peer Peer to peer com
Page 105 and 106: Chapter 5 Analysis of Results and E
Page 107 and 108: Figure 5-1: Stress concentration po
Page 109 and 110: 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 and 162:
Figure C-10: Node Bottom Overlay 16
Page 163 and 164:
4 3 2 1 A A Brain Communications Ac
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 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
Appendix E PC Code 183
Page 185 and 186:
1 c:\Documents and Settings\Gerardo
Page 187 and 188:
Page 189 and 190:
Page 191 and 192:
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Page 199 and 200:
Page 201 and 202:
12 c:\Documents and Settings\Gerard
Page 203 and 204:
Page 205 and 206:
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
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?