![Page 1: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/1.jpg)
Gesture Controlled Drone6.111 Final Project Presentation
Ben Schreck and Lee Gross
![Page 2: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/2.jpg)
A little about UAVs
![Page 3: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/3.jpg)
High Level System Diagram
Drone ControllerGesture State MachineHand DetectionKinect USB Adapter
PC FPGA
![Page 4: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/4.jpg)
PC
Microsoft Kinect
Kinect Camera
PrimeSense NITE Hand
Tracker
Serial Port (USB)
Raw RGB & Infrared Data
OpenNI Drivers
Hand Coordinates to Serial Port Program
RGB & Depth Stream Hand Coordinates
Depth Stream
Kinect Camera
![Page 5: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/5.jpg)
USB Module Verilog USB/Serial Module
![Page 6: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/6.jpg)
Gesture Recognition
![Page 7: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/7.jpg)
Turning Drone On
State 3
State 2
State 1
State 4
Idle
State 0
State 5
State 6
State 7
![Page 8: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/8.jpg)
Turning Drone OffIdle
Center
Left
Center
Idle
Center
Right
Center
Off
![Page 9: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/9.jpg)
Hover
![Page 10: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/10.jpg)
Roll
![Page 11: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/11.jpg)
Pitch
![Page 12: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/12.jpg)
Graphics
Tracking Gesture: RollCurrent Value: 129
![Page 13: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/13.jpg)
Remote Control Interface
FPGA AD558 DAC Remote Control
Analog Outs (0 ->3 Volts)Digital Outs (1 or 10 Bits)
On/OffHover
PitchRoll
Trim
On/OffHover
PitchRoll
Trim
Common Ground
![Page 14: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/14.jpg)
Additional Features
Tracking Gesture: RollCurrent Value: 129
Camera & Wireless Transmitter
![Page 15: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/15.jpg)
TimelineKinect Input
Drone Control Interconnect
USB Module
On Gesture
Off Gesture
Up/Down Gesture
Roll Gesture
Pitch Gesture
Integration/Debug If necessary
Graphics If necessary
Video Feed If time allows
Week 1: 11/10 - 11/16 Week 2: 11/17 - 11/23 Week 3: 11/24 - 11/30 Week 4: 12/1 - 12/7
![Page 16: Ben Schreck and Lee Gross 6.111 Final Project Presentationweb.mit.edu/.../projects/leegross_Project_Design_Presentation.pdf · Gesture Controlled Drone 6.111 Final Project Presentation](https://reader031.vdocuments.us/reader031/viewer/2022022003/5a9ee1977f8b9a71178bfdef/html5/thumbnails/16.jpg)
Potential Issues
Integration might take longer than expected
USB module could prove challenging
It might be hard to connect leads from FPGA to Remote Controller
PC->FPGA connection might be too slow to effectively control quadcopter