Project design implementation and evaluation

Phase 3, project
evaluation
MARIAM NISAR EAU0815447
EAU0815447

Table of contents

2
EAU0815447

Task 1

The glove consists of the IMU the arduino pro mini microcontroller, the Xbee transmitter
module and tests need to be carried out on the imu and the tranceiever . For this I
require arduino ide software and the Xctu software, the arduino is needed because the
arduino mini board is being used and the reasons for this is(chosing arduinowhy?) ..
the xbee modules need xctu to be configured and is the simplest method to get the
xbees to work , why chose xbees and xctu?

The imu sends data needed for pitch roll and yaw to test if this is working the arduino
ide software is required and its serial monitor is used to test and check whether the
sensor is functioning the way its wanted. Another part of testing is to check if the
transceiver is working and sending data without any errors or delays. For this again the
arduinos serial monitor is used.

The reason to choose this way to test the operation of both the sensor and the
transceiver is because it will show the 3 degrees of freedom (pitch , roll, yaw) and each
can be checked by moving the IMU the way pitch , roll and yaw is . This will be
translated onto the screen as decimal numbers both positive and negative depending
on the position of the IMU.

When testing pitch , the values in the p column will be checked to see its changing with
displacement, the same will be done for roll and yaw by looking at the respective
columns for changes.

Before testing pitch roll and yaw the imu will be placed on a flat surface or held level at
a point to see if it gives the same reading for the amount of time its held in that position.
This is to test whether the imu does not give continuously random numbers at steady
state.

The serial monitor will be able to simplify and show just the values needed , furthermore
when using the transceiver side by side with the IMU , the Xbee receiver receives the
data and the arduino will show the same screen when testing the imu and again the
pitch roll and yaw can be tested with the transceiver and confirm its working correctly.

The glove requires a thick material so when the arduino , Xbee, battery and sensors are
placed on it , the wiring or any sharp edges does not hurt the user. And the components
can be stuck or attached to them securely and easily, for this a list of potential materials
are required and the feel, thickness, cost etc needs to be evaluated and a selection
needs to be made. The glove will be either store bought or custom made, if a suitable
option is not available in stores , the glove will be custom made.

3
EAU0815447

Task 2

Code used to test the IMU on pitch roll and yaw along with the tranceiever.

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps
v2.0)

// 6/21/2012 by Jeff Rowberg<jeff@rowberg.net>

// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2013-05-08 - added seamless Fastwire support
// - added note about gyro calibration
// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
// 2012-06-20 - improved FIFO overflow handling and simplified read process
// 2012-06-19 - completely rearranged DMP initialization code and simplification
// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
// - add 3D math helper file to DMP6 example sketch
// - add Euler output and Yaw/Pitch/Roll output formats
// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
// 2012-05-30 - basic DMP initialization working

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy

of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

4
EAU0815447

===============================================
*/

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

Servo myservo; // create servo object to control a servo

//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation

// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

// class default I2C address is 0x68

// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */

/* =========================================================================
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
when using Serial.write(buf, len). The Teapot output uses this method.
The solution requires a modification to the Arduino USBAPI.h file, which
is fortunately simple, but annoying. This will be fixed in the next IDE
release. For more info, see these links:

http://arduino.cc/forum/index.php/topic,109987.0.html
http://code.google.com/p/arduino/issues/detail?id=958
* ========================================================================= */

// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual

// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)

5
EAU0815447

//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles

// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/

// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration

// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration

// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the

// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT

#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)

boolblinkState = false;
intval;
// MPU control/status vars
booldmpReady = false; // set true if DMP init was successful
uint8_tmpuIntStatus; // holds actual interrupt status byte from MPU
uint8_tdevStatus; // return status after each device operation (0 = success, !0 = error)
uint16_tpacketSize; // expected DMP packet size (default is 42 bytes)
uint16_tfifoCount; // count of all bytes currently in FIFO
uint8_tfifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements

6
EAU0815447

VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements

VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
floateuler[3]; // [psi, theta, phi] Euler angle container
floatypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
floatyaw,pitch,roll;
// packet structure for InvenSense teapot demo
uint8_tteapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================

volatileboolmpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
voiddmpDataReady() {
mpuInterrupt = true;
}

// ================================================================
// === INITIAL SETUP ===
// ================================================================

void setup() {

// join I2C bus (I2Cdev library doesn't do this automatically)

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif

// initialize serial communication

// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(9600);
while (!Serial); // wait for Leonardo enumeration, others continue immediately

// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.

7
EAU0815447

// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();

// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection
failed"));
delay(10);
// wait for ready
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() &&Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() &&Serial.read()); // empty buffer again

// load and configure the DMP

Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(46);
mpu.setYGyroOffset(145);
mpu.setZGyroOffset(15);
mpu.setZAccelOffset(1622); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so)

if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);

// enable Arduino interrupt detection

Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;

// get expected DMP packet size for later comparison

packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));

8
EAU0815447

Serial.print(devStatus);
Serial.println(F(")"));
}

// configure LED for output

pinMode(LED_PIN, OUTPUT);
}

// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================

void loop() {

// if programming failed, don't try to do anything

if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available

while (!mpuInterrupt&&fifoCount<packetSize) {
// other program behavior stuff here

// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data

// reset interrupt flag and get INT_STATUS byte

mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();

// get current FIFO count

fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus& 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
//Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus& 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount<packetSize) fifoCount = mpu.getFIFOCount();

9
EAU0815447

// read a packet from FIFO

mpu.getFIFOBytes(fifoBuffer, packetSize);

// track FIFO count here in case there is > 1 packet available

// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;

#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif

#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif

#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//Serial.print("ypr\t");
//Serial.print(ypr[0] * 180/M_PI);
yaw=ypr[0] * 180/M_PI;
//Serial.print("\t");
//Serial.print(ypr[1] * 180/M_PI);
pitch=ypr[1] * 180/M_PI;
//Serial.print("\t");
//Serial.println(ypr[2] * 180/M_PI);
roll=ypr[2] * 180/M_PI;
intval=ypr[2] * 180/M_PI;
#endif

10
EAU0815447

#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif

#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif

#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif

Serial.print(yaw);
Serial.print(",");
Serial.print(pitch);

11
EAU0815447

Serial.print(",");
Serial.print(roll);
Serial.print("\n");

delay(10);
}
}

Results : this is the data displayed on the serial monitor which uses the IMU along with the Xbee
transmitter and receiver module , pitch roll and yaw testing is shown on the receiving end:

Initializing I2C devices...

Testing device connections...
MPU6050 connection successful

Send any character to begin DMP programming and demo:

Initializing DMP...
Enabling DMP...
Enabling interrupt detection (Arduino external interrupt 0)...
DMP ready! Waiting for first interrupt...

-0.08-3.54-3.17 Yaw, pitch, roll from columns left to right,

-0.18,-3.32-2.99
-0.27,-3.21,-2.87 The imu is extremely sensitive and gave new data every 10 ms and I
-0.35,-3.13-2.82
had to change the delay to 500ms to actually be actually display
-0.42,-3.09,-2.78
-0.49,-3.04,-2.78 these values on paper. The black box contains data that was shown
-1.20,-1.54,-3.00 on the serial monitor when the imu was held stationary at a level , as
-1.50,1.57,-3.32 mentioned earlier its very sensitive it shows values for ypr that are
-1.47,1.28,-3.36 close to each other but not exactly the same. But these are values I
-1.90,-2.69,-3.60 was expecting and another factor was the circuit connections and it
-1.89,-2.55,-4.15 was connected with wiring made it difficult to keep it stationary
-2.13,-2.12,-3.73
without moving any other connections.
-3.03,1.20,-3.26
-3.67,2.69,-3.38
-7.10,1.22,-8.29
-4.99,5.49,-6.83
-5.92,12.47,-7.85
-5.89,19.59,-8.55
-5.33,25.31,-10.48
-4.89,31.76,-11.75
-4.25,36.95,-11.45
-2.67,42.29,-12.22
-0.25,48.58,-12.53
1.76,53.60,-13.81
5.06,58.51,-13.38

12
EAU0815447

7.48,61.60,-12.01
7.48,61.85,-11.54
5.14,57.28,-12.59
4.16,51.50,-11.15 The red box contains data I was testing for pitch. when not pitching
4.34,47.67,-10.69 up or down the imu pitch column (middle) should be as closest to 0
2.09,41.41,-10.68 as possible , as the imu was made to pitch up the decimal numbers
-0.34,34.22,-11.22
are positive and increase to 61.85 and then I proceeded to pitch
-0.99,26.42,-7.06
-0.35,18.18,-4.83 down and the values reduce to zero and become negative down to
-0.54,10.50,-5.66 -46.03. These results were not unexpected and meant that pitch
-0.36,3.18,-6.72 was working properly.
-0.58,-1.39,-5.68
-1.28,-10.12,-4.92
-1.55,-18.49,-6.06
-3.77,-27.77,-7.89
-4.96,-33.93,-8.87
-7.44,-40.53,-10.62
-10.23,-44.64,-11.70
-10.71,-46.03,-11.88
-9.48,-33.19,-9.73
-10.34,-11.32,-4.67
-7.77,-2.36,-2.42
-5.81,-5.11,-1.68
-6.91,-6.07,-1.75 The blue box contains the test values for roll (3 rd column) and it
-7.34,-2.10,-0.53
starts with approximately 0 and increases to positive 45.30 when
-6.55,-3.75,9.34
-5.84,-4.11,18.88 rolling to the right and the
-4.37,-4.66,25.75
-3.53,-4.90,29.22
-3.32,-4.97,31.83
-2.01,-6.46,34.25
-0.68,-7.25,38.00
1.80,-8.61,41.50
1.46,-8.07,45.30
-0.29,-7.85,41.07
-8.74,-6.03,20.69
-16.78,-6.46,-1.69
-19.64,-7.49,-12.66
-22.48,-8.58,-23.50
-25.60,-11.65,-34.41
-28.75,-15.82,-42.90
-30.69,-18.57,-47.74
-28.34,-14.33,-48.78
-25.73,-10.08, -26.20
-17.01,-6.81 ,-11.26
-26.15,-7.92, -17.29
-15.58, 1.78, -2.48

13
EAU0815447

3.28, 4.02, 8.95

20.90,1.98,5.67
29.38,1.50,1.87
34.75,3.16,1.29
39.67,2.55,-2.12
30.09,1.62,-2.46
6.20,4.04,-4.14
-15.87,3.25,-9.29
-32.46,3.07,-7.80
-49.06,2.10,-9.09
-64.98,3.38,-0.41
-80.94,3.35,8.92
-95.83,0.72,5.49
-91.08,0.03,7.81
-39.50,-0.36,11.65
-1.91,-11.50,9.78
-9.81,-4.41,4.10
-10.12,-1.76,3.24
-10.32,-0.77,3.16
-10.19,13.41,2.67
-11.31,7.17,0.46
-12.48,0.21,0.53

https://diyhacking.com/arduino-mpu-6050-imu-sensor-tutorial/

14
EAU0815447

Task 3

Custom glove

Magnetometer

9 degrees of freedom

Hydraulic actuators instead of servos

Better Xbee with more range (pro for 1.8 km range)

Uno to nano to pro mini for microcontrollers continuous improvements

15
EAU0815447

Task 4 D3

In the beginning the aim was to keep the flight simulator simple and through research
through websites and blogs as well as old reports from students of previous semesters
in the library and based on what I learnt in the previous semester as well as consulting a
teacher, I assumed that by using an ultrasonic sensor for moving the platform up and
down and an accelerometer for pitch roll and yaw the four degrees of freedom would be
achieved. However later on as the testing (using arduino software) and experiments
began I found out that although the accelerometer was triple axis supposed to move in
x y and z axes the yaw wasnt working as I thought it would and by doing more research
I discovered that it wouldnt no matter changes in the code or a different accelerometer,
the yaw wouldnt work.

I had found an ultrasonic sensor in the avionics workshop and tested to check if it was
still working, the result from testing it showed it worked for large distances and had an
error for distances less than 12 inches and worked normally for distances larger than
that, and since our project is small scale it was decided that another ultrasonic sensor
will be used. However if the platform were to be made to full scale the long range
ultrasonic would be a more suitable choice.

After more research and through various websites and discussions with group
members, the IMU would replace the accelerometer. This setback was due to not
enough research and the time period set as I was trying to get solutions as fast as I
couldand even though the accelerometer was cheap it would have saved up some
money since it is not needed anymore. When the IMU was tested it worked very well
although I needed some drivers I quickly realized were not present and needed to be
downloaded which didnt take long and gave data for yaw pitch and roll and it was more
sensitive and much more accurate which meant about 50% of my part was done.

The next step was to send data from the ultrasonic sensor and imu combined using the
Xbee transmitter and receiving modules , this is an important part of the projects
operation as the main idea behind it is to use a glove with the sensors and transmitter
attached to send data wirelessly to control servomotors in the platform, the Xbee
modules required Xctu software and needed to be configured, it seemed straightforward
at first based on video tutorials I had gone through on YouTube and websites like spark
fun, when the transmission of data began I was receiving garbage data and the receiver
seemed to stop operating after about 5 seconds of useless data receiving, i then went
through the steps again and found out that there are 2 different places where the baud
rate needs to be set, and there was a mismatch between 15200 and 9600 baud rate,
once all the baud rates were set to 9600 the transceiver was working flawlessly.

16
EAU0815447

When it came to servomotor testing and discussion with group members another
problem came up about the ultrasonic sensor, apparently as the imu pitch or rolls there
is also change in the height since the ultrasonic sensor was going to be placed on the
glove at the bottom, this meant that for example when the imu pitches up there will be
change in height and the platform will not only pitch but also rise up, I had assumed that
when the platform will be made to pitch roll and yaw the ultrasonic sensor will not be
operational.

Deciding that we focus currently on the 3 most important degrees of freedom yaw
pitch and roll , the ultrasonic sensor was discarded, this didnt make a huge difference in
the programming and code I used , the transmitter and receiver send data for the 3
degrees of freedom which is supposed to be received and translated to the servomotors
, by looking more into the IMU I found out that I could still make the other movement up
and down to be possible if there is enough time and maybe even go for six degrees of
freedom in the end.

Overall I think my research methods should have been more detailed and it resulted in
incomplete solutions like the accelerometer and ultrasonic sensor which also cost some
amount of money which in the end was a waste as I could have just bought the imu in
the first place and saved time and possibly even finish of the project sooner. On the
other hand I learned quite a lot maybe more than some of the subjects I have studied.
This project made me use my time management and organization skills which I consider
my strengths, I learnt a lot more than I thought I would , and applying topics in learnt in
classes to an actual project by me and my group members is a whole new experience
and tested at my practical skills.

The remaining portion of the project thats left is to make the servomotors move the
platform to pitch roll and yaw which is currently under works. The transmitter and the
imu along with the arduino mini will be fixed onto the glove by either sewing or
adhesives but only once the platform is functioning as its expected to, once that portion
is complete I will be able to then place the components onto the glove , which will be the
final part in this project.

- Talking about accelerometer and ultrasonic sensor

- The replacement to imu
- Strengths and weaknesses
- Assumptions
- Research methods and knowledge
- The arduino mini and its level converter as well as the drivers
- The Xbee and its process

17
EAU0815447

- Buying the glove

18