Brain wave controlled robot

Rahul Wagh
9604068909
Contents:

• Introduction.
• Literature survey.
• Methodology.
• Specification.
• Block diagram.
• Hardware details.
• Software details.
• Advantages.
• Disadvantages.
• Application.
• References.
 Introduction

• It is the study of brain functions.

• A collaboration in which a brain accepts and controls a mechanical device.
• Direct communication pathway between a brain and an external device.
• Thus BCI extracts electro-physical signals from suitable components of the brain and process
them to generate control signals for computers, robotic machines or communication devices.
“ A Brain-Computer Interface is a communication system that do not depend on peripheral nerves
and muscles “

[J. R. Wolpaw et al. “Brain-computer interface technology: A review of the first international
meeting,” IEEE Trans. Rehab. Eng., vol. 8, no. 2, pp. 164–173, 2000]
 What is BCI

• Brain-Computer Interfaces (BCI)

• Interaction between the human neural system and machines
• Goal
• Enabling people (especially disabled) to communicate and control devices by mere thinking.
• BCI is a control system
 Literature survey

A brain–computer interface (BCI), sometimes called a mind-machine interface (MMI), direct

neural interface (DNI), or brain–machine interface (BMI), is a direct communication pathway
between the brain and an external device. BCIs are often directed at assisting, augmenting, or
repairing human cognitive or sensory-motor functions.
Research on BCIs began in the 1970s at the University of California, Los Angeles (UCLA)
under a grant from the National Science Foundation, followed by a contract from DARPA.The
papers published after this research also mark the first appearance of the expression brain–computer
interface in scientific literature.
The field of BCI research and development has since focused primarily on neuroprosthetics
applications that aim at restoring damaged hearing, sight and movement. Thanks to the
remarkable cortical plasticity of the brain, signals from implanted prostheses can, after adaptation, be
handled by the brain like natural sensor or effector channels. Following years of animal
experimentation, the first neuroprosthetic devices implanted in humans appeared in the mid-1990s.
 Methodology

• To control the wheelchair, EEG signals are needed.

• Here this paper describes EEG signals through a BCI interface.
• In this system we have a tendency to use simple unipolar electrode to record
EEG signal from the forehead to construct a Brain-Computer Interface (BCI)
primarily controls electrical wheelchairs through ZigBee for unfit patients.
• The experimental results confirmed that this system will offer a convenient
manner to control an electrical wheelchair.
 Specification

PIC16F877A:

a) 256 Bytes EEPROM

b) Maximum operating frequency: 20MHz
c) 368bytes Internal SRAM
d) 8-channel, 10-bit ADC
e) Operating Voltage range 4.5V.

II. ZigBee transceiver:

a) 2.4 GHz IEEE 802.15.4/ZigBee RF transceiver
b) Wide supply range: 1.8 V – 3.8 V
c) Data rate: 250 kbps
d) RF frequency range 2.394 - 2.507 GHz
e) Transmission range: 50 meters

III. L293D driver IC:

a) Wide Supply-Voltage Range: 4.5 V to 36 V
b) Output Current 1 A per Channel (600 mA for L293D)
c) Peak Output Current 2 A per Channel (1.2 A for L293D)
Block diagram
Hardware details
 Power Supply Circuit

1
D1
VDD
JP2
2 - +4 1 2
2 VIN VOUT VDD
1 U2

GND
7805 R4
220 VAC C5 C6 C7 220 ohm
470 uF 100 uF 0.1 uF

3
D2

3
LED
 Power Supply – Circuit Description

• The operation of power supply circuits built using filters, rectifiers, and then voltage
regulators. Starting with an AC voltage, a steady DC voltage is obtained by
rectifying the AC voltage, Then filtering to a DC level, and finally, regulating to
obtain a desired fixed DC voltage. The regulation is usually obtained from an IC
voltage regulator Unit, which takes a DC voltage and provides a somewhat lower
DC voltage, Which remains the same even if the input DC voltage varies, or the
output Load connected to the DC voltage changes.
 About Microcontroller

• PIC16F877A microcontroller is used for this project

• It is 8-bit Microcontroller
• System is RISC Architecture
• It has Small set of Instruction set
• It has 35-Instructions only
• Compatibility: avail 28/40 Pin ICs
 Microcontroller overview

• Operating Speed Max 20 MHz, Voltage-(2-5.5)v

• Memory:
Flash Program 8Kx14 Words,
RAM 368 Bytes,
EEPROM Data Memory 256 Bytes
• Low power, High speed Flash/EEPROM Technology
 Features of Microcontroller

• It has 5 Ports for Internal and External usage

• It has on chip Timers. 3 Timers are avail
• It has in built Analog to Digital Converter
• In built Multiplexer availability for signal Selection
• It has serial as well as Parallel Communication facilities
• In built Capture, Compare and Pulse width modulation
Pin Diagram
 PIC16F877A microcontroller
VDD
0.1 uF
SW2 C10
R5 R6
220 ohm 1k
RESET

11

32

12

31
VSS

VSS
VDD

VDD
1 40 RB7
MCLR MCLR/Vpp RB7/PGD
RA0 2 39 RB6
RA0 RA0/AN0 RB6/PGC
RA1 3 38 RB5
RA2 4 RA1/AN1 RB5 37 RB4
RA3 5 RA2/AN2/Vref - RB4 36 RB3
RA4 6 RA3/AN3/Vref + RB3/PGM 35 RB2
RA5 7 RA4/T0CKI PIC16F877 RB2 34 RB1
RE0 8 RA5/AN4/SS U3 RB1 33 RB0
RE1 9 RE0/AN5/RD RB0/INT
RE2 10 RE1/AN6/WR
RE2/AN7/CS

13
14 OSC1/CLKIN 30 RD7
OSC2/CLKOUT RD7/PSP7 29 RD6
RC0 15 RD6/PSP6 28 RD5
Y1
RC1 16 RC0/T1OSO/T1CKI RD5/PSP5 27 RD4
RC2 17 RC1/T1OSI/CCP2 RD4/PSP4 22 RD3
RC3 18 RC2/CCP1 RD3/PSP3 21 RD2
4 Mhz
RC4 23 RC3/SCK/SCL RD2/PSP2 20 RD1
C8 C9 RC5 24 RC4/SDI/SDA RD1/PSP1 19 RD0
27 pF 27 pF RC6 25 RC5/SDO RD0/PSP0
RC7 26 RC6/TX/CK
RC7/RX/DT

TX RX
 USART pins inPIC16f877A

• The USART always transmits data on pin RC6/TX

• The USART always receives data on pin RC7/RX
• The RS-232 standard defines lots of other signals other than TX and RX used for
handshaking.
 Voltages

• The USART input/output uses 0V for logic 0 and 5V for logic 1.

• The RS-232 standard (and the COM port) use +12V for logic 0 and –12V for logic
1.
• To convert between these voltages levels we need an additional integrated circuit
(such as Maxim’s MAX232).
 MAX232

VDD
C1 10 uF

16

2
13 12

V+
VCC
R2IN 8 R1IN R1OUT 9
R2IN R2OUT RX
11 14
10 T1IN T1OUT 7 T2OUT
TX T2IN T2OUT
1
C2 3 C+ MAX232
10 uF 4 C1- U1
5 C2+
C2-

GND
6
V-

15
C3 C4
10 uF 10 uF
 Zigbee module

• The XBee and XBee-PRO OEM RF Modules were engineered to meet IEEE 802.15.4
standards and support the unique needs of low-cost, low-power wireless sensor
networks. The modules require minimal power and provide reliable delivery of data
between devices.
• The modules operate within the ISM 2.4 GHz frequency band and are pin-for-pin
compatible with each other
802.15.4 / ZigBee Architecture

Applications

ZigBee

IEEE 802.15.4 MAC

• Packet generation
IEEE 802.15.4 IEEE 802.15.4 • Packet reception
868/915 MHz 2400 MHz • Data transparency
PHY PHY • Power Management
 802.15.4 Architecture

Applications

ZigBee

• Channel acquisition
• Contention mgt
IEEE 802.15.4 MAC • NIC address
• Error Correction

IEEE 802.15.4 IEEE 802.15.4

868/915 MHz 2400 MHz
PHY PHY
 802.15.4 Architecture

Applications

• Network Routing
• Address translation
ZigBee • Packet
Segmentation
• Profiles

IEEE 802.15.4 MAC

IEEE 802.15.4 IEEE 802.15.4

868/915 MHz 2400 MHz
PHY PHY
 Data Flow diagram

• The XBee®/XBee-PRO OEM RF Modules interface to a host device through a logic-level asynchronous
serial port. Through its serial port, the module can communicate with any logic and voltage compatible
UART; or through a level translator to any serial device (For example: Through a Digit proprietary RS-232 or
USB interface board).
Software details
 Embedded C

• The C for microcontrollers and the standard C syntax and semantics are slightly different. The former is
aimed at the general purpose programming paradigm whereas the latter is for a specific target microcontroller
such as 8051 or PIC. The underlying fact is that everything will be ultimately mapped into the microcontroller
machine code. If a certain feature such as indirect access to I/O registers is inhibited in the target
microcontroller, the compiler will also restrict the same at higher level. Similarly some C operators which are
meant for general purpose computing are also not available with the C for microcontrollers. Even theoperators
and constructs which may lead to memory inefficiency are not available in C programming meant for
microcontrollers.
 Embedded C(cont…)

• Be aware that the target code should fit in the limited on-chip memory of the processor. Even the I/O
functions available in standard C such as printf() or scanf() are either not made available in C compilers for
microcontrollers or advised not to use them. These functions eat up lot of memory space and are not time-
efficient owing to the dragging of supporting functions like floating point routines and lot of delimiters.
Another striking difference in case of embedded systems programs is that they do nothave the umbrella or
support of the operating system. The programmer has to be accustomed with the absence of system calls
which makes life easy in traditional C.
 MPLAB IDE

• MPLAB IDE is a Windows Operating System (OS) software program that runs on a PC to develop
applications for Microchip microcontrollers and digital signal controllers.
• It is called an Integrated Development Environment, or IDE, because it provides a single integrated
"environment" to develop code for embedded microcontrollers.
• The MPLAB IDE has both built-in components and plug-in modules to configure the system for a variety of
software and hardware tools.
MPLAB IDE
 Disadvantages

THE DRAWBACKS OF BCI :

- THE BRAIN IS INCREDIBLY COMPLEX,

- THE SIGNAL IS WEAK & PRONE TO INTERFENCE,

- THE EQUIPMENTS IS LESS THAN PORTABLE,

Application
 References

1) Jzau-Sheng Lin,Kuo-Chi Chen and Win-Ching Yang, “EEG and Eye-

Blinking signals through a BrainComputer Interface Based Control for
Electric Wheelchairs with Wireless Scheme”.
2) K. Kiguchi and Y. Hayashi, “Motion Estimation based on EMG and EEG
Signals to Control Wearable Robots”, IEEE International Conference on
Systems, Man and Cybernetics, pp. 4213-4218, 2013.
3) S.Y. Cho, A. P. Vinod, and K. W. E. Cheng, "Towards a Brain Computer
Interface Based Control for Next Generation Electric Wheelchairs ", Int.
Can! on Power Electronics Systems and Applications, pp. 1-5,2009.
4) K. Nielsen, A. Cabrera, and O. Nascimento, "Eeg based bci - towards a
better control: Braincomputer interface research at
aalborguniversity,"IEEE Transactions on Neural Systems and
Rehabilitation Engineering., vol. 14, no. 2, pp. 202-204, 2006.
5) G. E. Fabiani, D. J. McFarland, J. R. Wolpaw, and G.
Pfurtscheller"Conversion of EEG activity into cursor movement by a
brain-computer interface (BCI), IEEE Trans. on Neural Systems and
Rehabilitation Eng., vol. 12, no. 3, pp. 331-338, Sep. 2004.