Logic, Drive Control, and User Interface Integration of a Multidiscipline Kinetic Sculpture Submitted By Jason D. Adrian IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR AN UNDERGRADUATE HONORS THESIS WITH A BACHELOR OF SCIENCE IN COMPUTER ENGINEERING School of Engineering Tufts University Medford, Massachusetts May 2004 Signature of Author: Committee: Jason D. Adrian Professor Joseph P. Noonan Dept. of Electrical and Computer Engineering Tufts University Committee: Committee Chair: Professor Chris Rogers Professor Chorng Hwa Chang Department of Mechanical Engineering Dept. of Electrical and Computer Engineering Tufts University Tufts University © Copyright 2004, by Jason Adrian Abstract Five diverse disciplines including mechanical, electrical, and computer engineering in tandem with human factors and child development helped create an interactive learning device called the kinetic sculpture. The kinetic sculpture consists of five engaging user interfaces that control the actions inside a Rube Goldberg-like device. The sculpture actions are controlled by DC, AC, and stepper motors along with solenoids to control the path of the ball in the sculpture. N-channel and P-channel MOSFETs were used extensively to control the motors and electronic components. The heart of the modular input devices is a PIC microcontroller which interfaces with both sensor inputs and LED output displays. The electrical and mechanical components together formed a unique and interactive learning device for elementary school children. i Table of Contents INTRODUCTION........................................................................................................................................ 3 DESIGN......................................................................................................................................................... 4 THE SCULPTURE ....................................................................................................................................... 5 Elevator ................................................................................................................................................ 6 Gate....................................................................................................................................................... 8 Turnstile ............................................................................................................................................... 9 Funnel ................................................................................................................................................ 10 Accelerator ......................................................................................................................................... 11 THE INPUT DEVICES ............................................................................................................................... 12 Simon.................................................................................................................................................. 13 Distance Piano ................................................................................................................................... 14 Grip..................................................................................................................................................... 15 Laser Maze ......................................................................................................................................... 15 Noise................................................................................................................................................... 16 PROTOTYPING ........................................................................................................................................ 16 PIC MICROCONTROLLERS ..................................................................................................................... 16 JDM PROGRAMMER ............................................................................................................................... 18 PROTOTYPE BOARD ................................................................................................................................19 MAJOR COMPONENTS............................................................................................................................. 21 IMPLEMENTATION................................................................................................................................24 THE SCULPTURE ..................................................................................................................................... 25 Elevator .............................................................................................................................................. 25 Gate..................................................................................................................................................... 31 Turnstile ............................................................................................................................................. 31 Funnel ................................................................................................................................................ 37 Accelerator ......................................................................................................................................... 38 INPUT DEVICES ....................................................................................................................................... 40 Simon.................................................................................................................................................. 43 Distance Piano ................................................................................................................................... 46 Grip..................................................................................................................................................... 49 Laser Maze ......................................................................................................................................... 51 Noise................................................................................................................................................... 54 AUDIO AND VISUAL FEEDBACK .............................................................................................................. 56 POWER SUPPLY ....................................................................................................................................... 57 SCULPTURE CONTROL CIRCUIT ENCLOSURE........................................................................................ 61 ANALYSIS.................................................................................................................................................. 63 FUTURE INTEGRATION WITH THE ROBO-TABLE .................................................................................. 65 CONCLUSION........................................................................................................................................... 66 SOURCES ................................................................................................................................................... 67 APPENDIX ................................................................................................................................................. 68 1 Table Of Figures Figure 1 - The Kinetic Sculpture ........................................................................................ 6 Figure 2 - Elevator Platform ............................................................................................... 7 Figure 3 - Top of Elevator With DC Motor........................................................................ 8 Figure 4 - Gate .................................................................................................................... 9 Figure 5 - Turnstile ........................................................................................................... 10 Figure 6 - Simulated Funnel ............................................................................................. 11 Figure 7 - Accelerator With AC Motor............................................................................. 12 Figure 8 - JDM Programmer............................................................................................. 18 Figure 9 - Custom Prototyping Board............................................................................... 21 Figure 10 - Happ Controls Large Arcade Button [4]........................................................ 23 Figure 11 - 12V Solenoid.................................................................................................. 24 Figure 12 - Elevator Circuit Diagram ............................................................................... 28 Figure 13 - Bi-Directional Elevator Circuit...................................................................... 30 Figure 14 - Applied Motion HT23-397 Stepper ............................................................... 33 Figure 15 - Turnstile Circuit Diagram .............................................................................. 35 Figure 16 - Turnstile Circuit ............................................................................................. 36 Figure 17 - Full Step State