Tennissense Hardware Demonstrator Rev 1
Contents
1. ee ee eter ce ene er cee T E E Rene A S E AE A E MEME E E A 7 1 NR ETT 8 JS gt HRS 3 1 Physical Specifications OVOlVIGW 9 OMNE ff TREE 9 PEE I t T T 10 2 dnd CONS OO 11 S EN APN oe are else AE TEE A A 12 go are ed E N 12 Sa ERN E nieces 13 m E PU 14 d TONING Dinary OUDE D edocet asee csecsseueasteceonaneeecesesceesaeeueracateceasee 14 4 2 Reading IMU samples from 14 4 3 Labview GUI DESCIIDNOM sis iauiscrsanesseninssaasiageanbeondossaasunnetatnaeadecadacindyanaes 16 SS MUNIN OCS Sia OLTRE 18 5 1 Environmental Operating COPOINOLDS secs oio osa dao ntn eame us 18 6 References amp 19 SI HIDE eee E A EET EE E 20 amp Tyndall TennisSense Demonstrator Hardware User Manual 1 Introduction The TennisSense system consists of up to 6 wearable Wireless Inertial Measureme2. to select the correct COM port for the receiver Choose the WIMU device using the dropdown menu above this Serial settings and bytes to read control should be left at default values 17 TennisSense Demonstrator Hardware User Manual Tyndall 5 Important notices 5 1 Environmental Operating Conditions 18 The receiver should be placed as close to the centre of the tennis court as possible with a direct line of sight between the antennae on the receiver and the WIMUs for best reception If any of the WIMUs are powered off during operation the other WIMUs will continue to transmit data and the base station will continue to receive data from the remaining WIMUs as normal The WIMU that was turned off can be turned back on at any time and data will be received once again lf the receiver is powered off or the USB cable is removed during operation when the Labview program is running even momentarily Labview will no longer be able to continue receiving the WIMU data and the GUI will need to be restarted The correct COM port needs to be chosen in the Labview program to receive WIMU data from the receiver The specific COM port assigned by the PC for the virtual serial port on the receiver can be checked in the Device Manager in Windows To access the Device Manager right click on My Computer and select Properties or alternatively press the Windows button amp Pause Break keys to bring up System P
3. 0 6516 6209 6250 6300 6350 6400 6450 6508 Gyr VL ne GyroscopeY v channel 5 Gyroscopez Wy Par pare 37 g Y V PER 3 h 4 a 2 5 1 i 1 3 3 3 2 2 2 2 2 a 2 2 2 r t 05 0 1 rt 0 0 1 1 0 1 1 1 1 1 6215 6250 6300 6350 6400 6450 6514 6215 6250 6300 6350 6400 6450 6514 62176250 6300 63 6450 6516 6209 6250 6300 6350 6400 6450 6508 MagnetometerX channel 7 MagnetometerY channel Magnetometerz W channel6 WIMU device baud rate 1Mbps 3 3 3 3 3 3 WIMU1 2 1000000 3 d 3 VISA resource read data bits 8 1 7 225 25 2 5 COM13 Je 3 3 3 bytes to read pu 0 P 2 2c 2 2 i t i 7 stop stop bits bh 1 55 t bytes read STOP 10 ts E Flow control 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 rg 108 A 6210 6250 6300 6350 6400 6450 6509 6211 6250 6300 6350 6400 6450 6510 6212 6250 6300 6350 6400 6450 6511 None v i untitled Paint Figure 15 Labview User Interface 16 TennisSense Demonstrator Hardware User Manual WIM device YISA resource read I 7 COMI3 bytes bo read stop Tyndall baud rate 1Mbps 1000000 data bits 8 als parity nane Mone stop bits 1 0 Flows control rz ri Mone Figure 16 GUI controls Use VISA resource
4. Contents The TennisSense Demonstrator contains the following items 5 WIMUs Large 1 WIMU with Velcro elastic strap Small 1 Radio Receiver Unit 1 Screw on USB cable 3 Battery Chargers copy of the User Manual of the internal parts layout drawing CD containing drivers documentation for all devices and Labview code for the attached PC Hardware Setup Check if all the WIMU units are charged by switching on each of the WIMU devices If the LED doesn t light up the battery may be discharged Plug the charger into the WIMU only after having checked the polarity before Software Setup e Use the files provided on the CD to install the serial over USB driver for the FTDI chip used in the receiver unit e f Labview is installed simply use the Labview VI file provided on the CD e f Labview is not installed please install the Labview and Visa runtime provided on the CD Next connect the USB cable to the receiver and screw it securely in place connect the receiver unit to the PC with the USB cable 20 Tyndall TennisSense Demonstrator Hardware User Manual Turn on the power switch on the receiver The green LED should illuminate and the PC should detect the USB receiver as a USB serial device First Use e Connect receiver unit to the PC and note the specific COM port that the receiver is assigned to e Run the Labview program provided and set the COM port used by the Labvi
5. Sense demonstrator The radio transceiver microcontroller layer is shown in figure 4 with a chip antenna They have also had the on board clock chip for the microcontroller replaced with a higher speed 16MHz unit for reduced latency in data transfer Figure 4 Nordic Radio ATmega128 layer with chip antenna amp Tyndall TennisSense Demonstrator Hardware User Manual 2 3 NAP150 Board The NAP150 board delivers a regulated 5V supply from the attached 3 7V lithium battery It also features a supplemental 709 379 dual axis accelerometer ADXL278 from Analog Devices see datasheet in References Figure 5 NAP150 Board Accelerometer 2 70g x Sensitivity 2 mV g x 55mV g y Partnumber number ADXL278 insere Analog Devices Table 2 NAP150 Accelerometer Specifications 2 4 Battery The battery used is a 1230mAh LIP653450UC rechargeable Lithium lon Prismatic cell from Varta see datasheet in References This should allow for several hours of operation before requiring recharging The battery is glued in place to prevent it from impacting with the electronics and improve reliability Tyndall TennisSense Demonstrator Hardware User Manual Figure 6 LIP653450UC Rechargeable Lithium lon Prismatic Battery recent versions have higher capacity than that illustrated 2 5 Packaging The packaging is based around durable black ABS plastic enclosures These ha
6. ctor p antennas Power indicator Figure 14 TennisSense Radio Receiver unit 13 Tyndall TennisSense Demonstrator Hardware User Manual 4 Labview GUI The supplied GUI software is written in Labview National Instruments Version 8 2 Note that any computer program e g C C Visual C Visual Basic etc that can access the data from the virtual COM port used by the receiver may be used to read the captured sensor data from the receiver Note that an executable GUI i e Labview GUI is also included such that it will run on any computer that does not have Labview installed To run the executable it is required to install the Labview8 2 1 and Visa430 runtimes which are both included on the CD Also note that to achieve the high data throughput required for this application a serial baud rate of 1Mbps is required The exact serial settings are listed in table 4 4 1 WIMU binary output format Receiver Serial over USB Connection Settings Settings Value Bits second bps 1M 1 000 000 Data bits Parity None Stopbits 1 Flow control j None J Table 4 Serial settings 4 2 Reading IMU samples from Receiver A very simple serial data format is employed for each sensor measurement and consists of otart of measurement identifier in this case the string imu WIMU number 1 6 11 sensor readings Two termination characters The exact measured data structure is listed in table 5 To rea
7. d the measured ADC binary sensor data values from the COM port simply wait for the start of measurement identifier imu then capture the WIMU number and 11 sensor readings and then wait for the next start of measurement identifier 14 TennisSense Demonstrator Hardware User Manual Tyndall ADC full Byte Description Channel scale Voltage Comment 1 Character i NA NA 2 Character m NA NA 3 Character u NA NA A WIMU number 1 6 NA NA 5 Accel U Hi Byte 0000 XXXX 5V 6 Accel U Lo Byte XXXXXXXX 5V 7 Accel V Hi Byte 0000XXXX 5V 8 Accel V Lo Byte XXXXXXXX 5V 9 Accel W Hi Byte 0000XXXX 5V 10 Accel W Lo Byte XXXXXXXX 5V 11 Gyro W Hi Byte 0000XXXX 5V 12 Gyro W Lo Byte XXXXXXXX 5V 13 Gyro U Hi Byte 0000XXXX 5V 14 Gyro U Lo Byte XXXXXXXX 5V 15 Gyro V Hi Byte 0000XXXX 5V 16 Gyro V Lo Byte XXXXXXXX 5V 17 Mag W Hi Byte 0000XXXX 5V 18 Mag W Lo Byte XXXXXXXX 5V 19 Mag U Hi Byte 0000XXXX 5V 20 Mag U Lo Byte XXXXXXXX 5V 21 Mag V Hi Byte 0000XXXX 5V 22 Mag V Lo Byte XXXXXXXX 5V 23 70g Minus U Hi Byte 0000 00XX 3 3V 24 70g Minus U Lo Byte XXXX XXXX 3 3V 25 37g Plus V Hi Byte 0000 00XX 3 3V 26 37g Plus V Lo Byte XXXX XXXX 3 3V 27 New line char Ox0A 28 Carriage Return char OxOD Note The 70g 37g sensor readings are voltage divided Please using scale factor of 1 555 to calculate true voltage 15 amp Tyndall ational Institute TennisSense Demons
8. e CLARITY Tyndall ational Institute clarity centre org TennisSense Demonstrator Rev 1 0 Hardware Manual John Buckley Mark Gaffney Javier Torres Christelle Rodde Philip Angove Jan Vcelak Brendan O Flynn John Barton Cian O Mathuna Tyndall National Institute August 2009 Tyndall National Institute Lee Maltings Prospect Row Cork Ireland Tyndall TennisSense Demonstrator Hardware User Manual Acknowledgements We would like to acknowledge our collaborative partners for the TennisSense demonstrator at the CLARITY Centres in DCU and UCD and in particular we would like to acknowledge Ciar n Conaire Graham Healy Kieran Moran and Noel O Connor In addition we would like to acknowledge the support of Science Foundation Ireland SFI in providing the funding for developing the hardware for this demonstrator via the National Access Program NAP and Philip Angove at the Tyndall National Institute Tyndall is part of SFl s CLARITY Centre for Sensor Web Technologies which is supported by Science Foundation Ireland under grant 07 CE I1147 ational Institute TennisSense Demonstrator Hardware User Manual Table of Contents A OTS UNO NR DES 4 ATS EO 5 o I 5 2 2 Nordic 128 6 Nees eee
9. e charger connector used is a standard 2 5mm diameter 2 pole mono jack plug The middle tip is positive the outside case is at DC ground potential The charger output voltage no load is 4 2V DC Warning Ensure the polarity on all chargers used is correct before plugging into a WIMU Use a voltmeter to verify charger voltage is 4 2V DC with polarity as shown Table 3 shows the electrical and physical specifications for the WIMU and receiver units WIMU transmitter Receiver Wireless Nordic USB 1Mbps serial over USB Operating 4 2 V from charger oV Voltage 3 7 V from battery 5 V from NAP150 Operating 170mA DC 120mA DC current Temperature to 55 C 0 to 55 C Operating Range Outline 125 x 50 x 25 mm WIMU Large Dimensions 75 x 50 x 25 mm WIMU Small 107g WIMU Large 672g 91g WIMU Small Table 3 Electrical and physical specification Note The expected time of play allowed by a fully charged battery is approximately 5 6h The WIMU units need approximately 3h each to fully charge 3 2 Cable and connector A USB cable is used to connect the receiver unit to the PC laptop The cable used is a standard USB to mini USB cable and employs a screw on connector to provide a robust connection and prevent it from being damaged or detached during play 10 Tyndall TennisSense Demonstrator Hardware User Manual ee v ES 4 JA j LI E ya P n OZ Figure 10 Receiver unit co
10. ew program to that used by the receiver e Put the WIMU units into the wearable pouches straps and place on the body Switch the WIMU devices on ensuring that the power indicator LED is lit if not the affected unit should be charged using the provided chargers e n the Labview program select the WIMU of interest from the drop down list at the top and ensure it is receiving data Repeat for other WIMUs Support If you have any questions and require support you can contact us via email on mark gaffney x4023 john buckley x4401 21
11. he monitoring of 6 degrees of freedom motion data for each WIMU The IMU is shown in Figure 3 and features 3x single axis gyroscopes 2x dual axis accelerometers 2x dual axis magnetometers a 12 bit ADC as well as signal conditioning circuitry P Yaw d Accel U amp W Ww AccelV Magne U amp W Magne V Gyro V Gyro U U 4 Gyro W Pitch IN Figure 3 Details of sensors and axes of sensitivity for the IMU layer amp Tyndall TennisSense Demonstrator Hardware User Manual Physical sensor specification The key technical specification for the gyroscopes the accelerometers and the magnetometers used in each IMU layer are listed in Table 1 Please refer to the individual datasheets See References at the end of the manual for further specifications Accelerometer Gyroscope Magnetometer 2 06 XU Sensitivity 55mV g 6mV sec 1mV V gauss ADXL210 ADXRS300 HMC1052L Manufacturer Analog Devices Analog Devices Honeywell Table 1 Sensors specifications 2 2 Nordic Radio ATmega128 Layer The radio transceiver chosen for this application is the nRF2401 see datasheet in References from Nordic Semiconductor The radio uses the 2 4GHz ISM band for communications with data transfer rates of up to 1Mbps The microcontroller is an ATmega128 see datasheet in References from Atmel The microcontrollers have been tested numbered and programmed with the appropriate code for the Tennis
12. nnected to laptop Figure 11 Supplied USB cable 3 3 Housing 3 3 1 WIMU Two types of WIMU enclosures have been provided for evaluation a large and small type There are 5x WIMUs packaged in the large enclosure and 1x WIMU packaged in the small enclosure as can be seen in figure 12 Note The small WIMU is a spare device that was used to evaluate a smaller lighter implementation that would make it more comfortable on the wrist However the expected radio transmission range for the smaller unit is less than for the large WIMU device 11 amp Tyndall TennisSense Demonstrator Hardware User Manual Figure 12 Set of 6x TennisSense WIMUs The large WIMUs have dimensions of 125 x 50 x 25 mm with the smaller type having dimensions of 75 x 50 x 25 mm any additional measurements required can be taken from the scaled drawing supplied The axes of sensitivity are illustrated in figure 13 Figure 13 Packaged WIMUS in large and small boxes showing axes of sensitivity 3 3 2 Radio Receiver The receiver unit is shown in figure 14 The receiver is used to receive wireless data from each of the 6 body worn WIMU transmitters It is connected to the laptop PC via a USB cable as shown The receiver collects data from the WIMU units and passes the received sensor data to the base station via RS 232 for display logging and data analysis 12 Tyndall TennisSense Demonstrator Hardware User Manual Receiving conne
13. nt Units WIMUs worn by a tennis player a wireless receiver Rx and a connected PC as illustrated in figure 1 below This system allows for the measurement and recording of the instrumented players kinematic motion data Figure 1 TennisSense WIMU system overview In operation when a player is serving for instance the body worn WIMUs monitor the movement of the player s arm upper lower and wrist as well as the chest and torso The sensor data are then transmitted wirelessly in real time to the receiver Base unit which is linked to a PC via a USB cable The receiver features a serial over USB chip which allows the device to appear as a virtual COM port allowing the data to be easily accessed for display on the included Labview program amp Tyndall TennisSense Demonstrator Hardware User Manual 2 WIMU Hardware The assembled hardware of the WIMU is composed of a NAP150 Board power supply battery management and integral dual axis 709 379 accelerometer an IMU layer 9x motion sensors a 1Mbps Nordic Radio with ATmega128 layer wireless communication and processing and a prismatic lithium polymer battery 1230mAh Radio amp microcontroller NAP150 Figure 2 Assembled WIMU without battery 2 1 IMU Layer The Inertial Measurement Unit IMU layer contains multiple accelerometers gyroscope and magnetometer sensors arranged so that their axes of sensitivity form orthogonal triplets This allows for t
14. roperties select the Hardware tab and press the Device Manager button Scroll down the list to Ports COM amp LPT and expand it You should see a list of the assigned COM ports When you plug in the receiver a new entry should appear here take a note of the COM port number and use this in the Labview Tyndall TennisSense Demonstrator Hardware User Manual 6 References amp Datasheets Gyroscope ADXRS300 from Analog Devices http Awww analog com static imported files data sheets ADXRS300 pdf Accelerometer ADXL210 from Analog Devices http www analog com static imported files data_sheets_obsolete OBSOLE TE 20WATERMARK ADXL210 pdf Magnetometer HMC1052L from Honeywell http www magneticsensors com datasheets HMC 105X pdf Radio Transceiver Nordic nRF2401 Radio from Nordic Semiconductor http www nordicsemi com files Product data sheet nRF2401rev1 1 pdf Microcontroller ATmega128 from Atmel http www atmel com dyn resources prod documents 2467s pdf Supplemental Accelerometer ADXL278 from Analog Devices http www analog com static imported files data_sheets ADXL278 pdf Battery LIP653450UC Rechargeable Lithium lon Prismatic from Varta http www varta microbattery com en mb_data documents data_sheets DS56491 PDF 19 TennisSense Demonstrator Hardware User Manual 7 Quick Start Guide Please read these instructions before installing and using the TennisSense system
15. trator Hardware User Manual The serial data format delivered from the receiver is implemented using the following embedded code void Serial Data printf imu This text indicates the start of a string of IMU data putchar data 0 Identify the data source WIMU 1 6 for 1 0 1 lt 9 1 18 IMU layer bytes putchar data 2 i 1 amp 0x0F High byte of AD7490 ADC conversion putchar data 2 i l 1 Low byte of 7490 ADC conversion for 1 9 1 lt 11 4 bytes of 709 379 accelerometer putchar data 2 i 1 amp 0x03 High byte of MCU ADC conversion putchar data 2 it 1 1 Low byte of MCU ADC putchar 0x0A putchar 0 0 j 4 3 Labview GUI Description The Labview GUI screen is shown in figure 15 It can be seen that each of the 11 sensor s outputs gyroscopes accelerometers and magnetometers for a particular WIMU are graphed on screen at once 12 TennisSenseGUIV1 0 vi File Edit View Project inning LI 5 Operate Tools Window Help channel Accelerometer V channel 1 Accelerometerz W oe channel2 70g X MINUS U 3m 4 4 4 25 i i 3 J J J 3 B 22 22 22 E f t IS 0 5 1 1 1 1 a pel 1 D 1 D 1 Fog RET 1 1 1 D 1 0 1 1 1 1 1 1 62186250 6300 6350 6400 6450 6517 62176250 6300 6350 6400 6450 6516 62176250 6300 6350 6400 645
16. ve a main body with posts for receiving 4 screws and a flat base plate with four screw holes and wings to allow for securing the enclosures to other objects The units should be kept screwed shut to keep out moisture and dirt which may cause premature failure A small package of silica gel is also included in each WIMU to reduce the chance of moisture damaging the electronics Aero board is used to protect internal parts from damage due to physical shocks such as tennis ball impacts Warning Please do not disassemble without consulting with us first as parts are attached to both the main body and the flat base plate which are delicately connected Figure 7 Internal layout of parts for Tennis Sense WIMUs Tyndall TennisSense Demonstrator Hardware User Manual 3 WIMU Specification 3 1 Physical Specifications overview 3 1 1 WIMU C08 Charger indicator port Figure 8 WIMU in large enclosure Warning Please only use the supplied chargers to charge the WIMUs 3 1 2 Charger The charger has a 2 colour status LED this is red when a unit is being charged and changes to green once the attached WIMU is fully charged It is not necessary to turn the WIMUs on or off before charging During charging the status LED and all electronics in the WIMU will be disconnected from power so they will not be functional TennisSense Demonstrator Hardware User Manual 3 1 3 Charger Connector Th
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