G.O.D. (Gesture Operated Drone) Group 3 - Pranay Patel, Anshul Devnani, Bernardus Swets Computer Engineering Majors Senior Design 1 Final Report – August 2nd, 2019 EEL 4914 Summer 2019 i Table of Contents List of Figures ............................................................................................................. v List of Tables ............................................................................................................. vi 1.0 Executive Summary ............................................................................................... 1 2.0 Project Description ................................................................................................ 2 2.1 Project Motivation .......................................................................................................2 2.2 Goals and Objectives ....................................................................................................3 2.3 Requirement Specifications ..........................................................................................3 2.3.1 Software Requirements ................................................................................................................ 4 2.3.2 Hardware Requirements ............................................................................................................... 4 2.3.3 System Requirements ................................................................................................................... 5 2.4 House of Quality ...........................................................................................................6 3.0 Standards and Constraints .................................................................................... 7 3.1 Constraints ...................................................................................................................7 3.2 Project Standards .........................................................................................................9 4.0 Project Design..................................................................................................... 10 4.1 System Block Diagram ................................................................................................ 10 4.2 Neural Networks Overview ......................................................................................... 11 4.2.1 What are Convolutional Neural Networks (CNNs) ...................................................................... 12 4.2.2 Building Blocks ............................................................................................................................ 13 4.2.2.1 Convolutional Layers ........................................................................................................... 14 4.2.2.2 Pooling Layers ..................................................................................................................... 15 4.2.2.3 Fully Connected Layers ....................................................................................................... 15 4.2.2.4 Activation Functions ............................................................................................................ 16 4.2.2.5 Putting It All Together ......................................................................................................... 18 4.2.3 How do CNNs Learn/Train .......................................................................................................... 18 4.3 Gesture Recognition Neural Network .......................................................................... 19 4.3.1 Hardware Requirements ............................................................................................................. 20 4.3.2 Software Choices ........................................................................................................................ 22 4.3.3 Building the Dataset .................................................................................................................... 26 4.3.4 Building the CNN Model ............................................................................................................. 29 4.3.5 Training the Built Model ............................................................................................................. 31 4.3.6 Testing the Neural Network ........................................................................................................ 32 4.3.7 Real-Time Recognition ................................................................................................................ 33 4.3.8 Foreseeable Issues ...................................................................................................................... 34 4.3.9 Other Approaches to Gesture Recognition ................................................................................. 36 4.4 Graphical User Interface ............................................................................................. 37 4.4.1 GUI Overview .............................................................................................................................. 37 4.4.2 Webcam Window Pane............................................................................................................... 38 4.4.3 Feedback/Readings Window Pane ............................................................................................. 38 4.4.4 Log Window Pane ....................................................................................................................... 39 4.4.5 Building the GUI .......................................................................................................................... 39 ii 4.5 Wireless Communication ............................................................................................ 41 4.5.1 Possible Connection Mediums .................................................................................................... 41 4.5.2 Why Bluetooth ............................................................................................................................ 42 4.5.2.1 Complexity .......................................................................................................................... 42 4.5.2.2 Bluetooth Version ............................................................................................................... 43 4.5.3 Pairing Setup ............................................................................................................................... 44 4.5.3.1 Trusted Devices and Security .............................................................................................. 44 4.5.4 Limitations .................................................................................................................................. 45 4.5.4.1 Data Limitations .................................................................................................................. 45 4.5.4.2 Range Limitations ................................................................................................................ 45 4.5.4.3 Interference Limitations ...................................................................................................... 46 4.5.4.4 Device Count Limitations .................................................................................................... 46 4.5.4.5 How Will We Accommodate ............................................................................................... 46 4.5.4.6 Dictionary Setup .................................................................................................................. 46 4.5.4.7 Bluetooth Modules ............................................................................................................. 48 4.5.4.8 Module Limitations ............................................................................................................. 49 4.6.4.9 Module Options .................................................................................................................. 49 4.6.4.10 Reasons for Choosing ........................................................................................................ 50 4.5.5 Low Power Mode ........................................................................................................................ 50 4.6 Drone Hardware Design .............................................................................................. 51 4.6.1 Model Overview .......................................................................................................................... 51 4.6.2 List of Materials .......................................................................................................................... 52 4.6.3 Drone Frame ............................................................................................................................... 52 4.6.3.1 Dimensions .......................................................................................................................... 52 4.6.3.2 Frame Material .................................................................................................................... 53 4.6.3.3 Drone Assembly Process ..................................................................................................... 53 4.6.4 Motors ........................................................................................................................................ 54 4.6.4.1 Overview of Motor Orientation