Group 21Kathryn Morales Mike Strobridge

Chris PerezLee Sully

EPOCalypse Mind Controlled Car

Basic Overview

• To be able to control an RC car around various obstacles using only the mind

• When certain brain waves or facial expressions are detected, the software will register and interpret them as separate vehicle commands

• Depending on what signal is detected the vehicle will go forward, left, right, or stop

Objectives

1. Headset: sampling rate of > 100 Hz, Resolution of 16 bits, Dynamic range > 200 mVpp

2. Emotiv Software: 2.4GHz processor, 1GB RAM, 50 MB disk space

3. RC car: have an operating range of 30 ft and have a full range of motion

Requirements/Specifications

• 14 channels with 7 paired sensors

• Sampling rate of 128 Hz• 16 bit resolution• 0.2 – 45 Hz bandwidth• Dynamic Range 256

mVpp• Transmits data

wirelessly to Bluetooth dongle at 2.4 GHz band

Emotiv EPOC Headset

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 (not being used)

• 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.

Emotiv Suites

Location of sensors on scalp

Area Name Brodmann Area #

Dorsolateral prefrontal cortex

9

Frontal eye fields 8

Anterior Prefrontal Cortex

10

Primary gustatory gyrus 43 (not shown)

Middle temporal gyrus 21

Primary motor cortex 4

Somatosensory association cortex

7

Brodmann Areas

Emotiv Headset Training/Testing

Expressiv Suite Testing;Detects range of facial expressionsWe 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

Main Board OptionsMainboard type

Processors

System Memory

Bios Chipset Price (w/o processor)

Intel DQ77KB

Core i3/i5/i7(Ivy/Sandy Bridge) desktop processors

2 DDR3 1333 SO-DIMMUp to 16 GB memory size

AMI uEFI BIOS 96 Mb flash memory

Intel Q77 Express

$149.95

Jetway NF9G-QM77

Core i3/i5/i7 (Ivy/Sandy Bridge) mobile processors

2 DDR3 1333 SO-DIMMUp to 16 GB memory size

AMI EFI 64MB SMT Flash ROM

Intel QM77 $245.00

Intel DH61AG

Core i3/i5/i7 (sandy bridge) desktop processors

2 DDR3 1333 SO-DIMMUp to 16 GB memory size

AMI uEFI BIOS 16 Mb flash memory

Intel H61 Express

$135.95

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. Looking to expand to 2 GB

• Integrated Intel HD graphics as a bonus

• 160 GB laptop hard drive added

Intel DH61AG Mini Motherboard

Mini- ITX (17 X 17 cm)

• 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.

EPOC Software

Class Diagram

Data Flow – Receiving a Signal

Data Flow – Dispatching

Preliminary Testing

Programed in C++

Translation Programming Scheme• Software translates a stream of

signals into an 8 bit binary signal

• The EmoState contains information and data

• evoked by the signals and commands are handled by its corresponding EMOTIV API functions and methods

Software Layout

Activity Diagram

• Translation Programming Scheme

Class Diagram

Transmitter on motherboard

Receiver on pcb Atmega328p-pu

DC Drive MotorDC Servo Motor

Basic Car Layout

Motor Control Circuit

• New Bright Ford F-150

• 3 lbs• $26.00

• Atmega 328p-pu microcontroller with 28 pins and a 5V operating voltage

17.7 inches

9.3 inches

9.8 inches

.28in

1.36in

•LM 7805 Voltage Regulator•Various diodes, LEDs, capacitors, resistors, and pin heads•.1uF, 22uF, 22pF, 2.2kohm, 47kohm, 1N4004

•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

.344in

.069 in

.157in

Drive Motor 1

Turning Motor

Enable Pin 14

Input Pin 15/16

Enable Pin 17

Input Pin 18/19

Result

L 00/11

L 00/11 OFF

L 01 L 01 OFFL 10 L 10 OFFH 00/1

1L 00/11 STOP

H 01 L 00 FORWARD

H 10 L 00 BACKH 01 H 01 RIGHTH 01 H 10 LEFT

H-Bridge L298N

Wireless Transmitter/ReceiverRF Link 315 MHz Transmitter/ Receiver

Xbee 802.15.4 (2.4 GHz)

Seeedstudio 315MHz RF Low Cost Transmitter / Receiver Pair

Range 500ft range (given perfect conditions)

100 feet (indoor)300 feet (outdoor, line-of-sight)

300 – 500 meters

Cost Transmitter: $3.95Receiver: $4.95

$21.99 each Pair: $4.99

Pros Very Cheap -Very reliable and simple communication- Ready to use out-of-box

- Very Cheap- Commonly used

Cons - Signal is very noisy- No method for pairing devices (Must do manually)

A little more expensive

Signal is very noisy (requires addition of encoder/decoder to remove disturbances)

• 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

Transmitting and Receiving Data

Final Printed Circuit Board

• 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.

Power

Administrative Content

• Analysis and encoding of raw EEG data• Maintaining left and right directional

signals from left and right blinking• Problems training more than 3 cognitiv

commands for forwards/backwards movement

• Transmitting and receiving data from DH61AG motherboard to the onboard PCB

Difficulties

Team Member

Emotiv EPOC Headset

DH61AG Motherboard

Emotiv Coding

Software / other coding

Onboard PCB

Remote Controlled Car

Kathryn X XMike X X XChris X X XLee X X

Work Distribution

TotalCodingTesting

PCBPrototyping

DesignResearch

0% 10%20%30%40%50%60%70%80%90%56%

35%55%

40%25%

75%85%

Progress

Progress

Project Progress

Part PriceEmotiv EPOC Neuro-Headset $750.00Intel Mini-ITX Motherboard $135.95Intel Core i3 Processor $189.001 GB Onboard Memory $18.00CPU Cooler $39.00160 GB Laptop Hard Drive $95.8490W 19V Power Source $53.24Remote Control Car $26.00Serial to Parallel Converter $2.98DC Servo Motor $11.77Xbee Series 1 (2) $44.00Xbee Explorer USB $24.95Total $1410.73

Budget

Questions