group 6 target tracking spotlight (tts) maureen desi joel douglass rajiv iyer dennis trimarchi
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Group 6Group 6
Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)Maureen DesiMaureen Desi
Joel DouglassJoel Douglass
Rajiv IyerRajiv Iyer
Dennis TrimarchiDennis Trimarchi
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MotivationMotivation
WHY
•Speed & Accuracy
•Economic Savings
WHO
•Law Enforcement
•Entertainment Industry
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Similar ProductsSimilar Products
• Martin Lighting Director (MLD)Martin Lighting Director (MLD)
3D Tracking System for automated followspot3D Tracking System for automated followspot 4 Ultrasonic Speakers4 Ultrasonic Speakers
frame of reference for tracking systemframe of reference for tracking system Modified Wireless MicrophoneModified Wireless Microphone
Detects ultrasonic pulses from speakersDetects ultrasonic pulses from speakers Sends radio signals back to the MDL systemSends radio signals back to the MDL system
http://http://www.martin.dk/product/product.asp?productwww.martin.dk/product/product.asp?product==lightingdirectorlightingdirector
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Project Goal & ApproachProject Goal & Approach
Design a pan-tilt system to control the spotlight so that it will follow and illuminate a moving target. The location of the target will be determined using ultrasonic transmitters and receivers.
Successfully track and illuminate a moving target with a spotlight.
Approach
Goal
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ObjectivesObjectives
Track and illuminate a target roughly 6 in. in diameter as it moves around a 5 x 5 ft. grid
The required range of motion for both the pan and tilt angles are +/- 27 degrees.
The system should be able to traverse the length of the grid in 0.5 sec. in either direction (angular speed = 1.88 rad/sec.)
Mount system on stationary platform 5 ft. above grid
2 Path - 3 Phase Design Process Integration of sensors after controller algorithm
meets desired specifications
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Design StrategyDesign Strategy
Identify Part
Specifications
Simulation
Order Parts
System Construction and Programming
Data Acquisition Program
Sensors Control
Simulation
Order Parts
System Construction and Programming Testing
(Parameter Identification)
Phase I
Phase II
Phase III
Testing(Parameter
Identification)
Project Completion!
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Plan of ActionPlan of Action
Pan and Tilt Motor Comparison
•Pittman Express GM8724S010
•Mass = 0.321 Kg
•Peak Torque (stall) = 42 oz-in
•Pittman Express GM8712-11
•Mass = 0.194 Kg
•Peak Torque (stall) = 6.8 oz-in
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase IIPhase I
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Plan of ActionPlan of Action
Pulleys
Motor Pulley (2 flange)
•SDP-SI Timing Belt Pulley – 40 D.P.
•Bore Size = 0.188 in
•Pitch Diameter = 0.506 in
•Shaft Pulley
•SDP-SI Timing Belt Pulley – 40 D.P.
•Bore Size = 0.375 in
•Pitch Diameter = 2.60 in
•Gear Ratio = 5.13
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase IIPhase I
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Plan of ActionPlan of Action
Timing Belts
Polyurethane Belt
•0.0816 in. (40 D.P.) Pitch
•135 Teeth
•3/16 in. wide
•Pitch Length = 11.02 in.
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase IIPhase I
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Plan of ActionPlan of Action
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Data Acquisition ProgrammingSensor Simulation
Phase III
Spotlight
•RAYOVAC Sportsman
•Mass = 0.1008 Kg
•Height = 2.5 in
•Length = 3.0 in
•Width = 2.5 in
•Center of massSensor System Construction,Programming and Testing
Phase IIPhase I
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Plan of ActionPlan of Action
Ultrasonic Sensors-SRF04
•Voltage - 5v only required
•Current - 30mA Typ. 50mA Max.
•Frequency - 40KHz
•Max Range - 3 m ,Min Range - 3 cm
•Echo Pulse - Positive TTL level signal, width proportional to range.
•Small Size - 43mm x 20mm x 17mm
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase IIPhase I
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Plan of ActionPlan of Action
•Created a model based on estimated masses, inertias, motor parameters, gear ratios, etc.
•Simulated a step input with this model
•Simulated a sine input with the model oscillating between our limitations
•Linearized the model for more systematic controller tuning
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase IIPhase I
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Kp1 = -0.9
Kd1 = -0.09
Kp2 = -0.55
Kd2 = -0.035
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Kp1 = -2.0
Kd1 = -0.1
Kp2 = -2.0
Kd2 = -0.1
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Plan of ActionPlan of Action
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Phase II
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase I
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Plan of ActionPlan of Action
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Phase II
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase I
Phase I Locate and shine spotlight on
specific points on the grid
Phase II Locate and shine on a
predetermined path (continuous sequence of points)
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Plan of ActionPlan of Action
Identify Part Specs
Controller Simulation
System Construction/Programming,Testing
Phase II
Data Acquisition ProgrammingSensor Simulation
Phase III
Sensor System Construction,Programming and Testing
Phase I
Develop code to receive signal and convert data to a location on the grid
Simulate data to determine the ability of the system to process information with receivers in different locations to determine optimal setup (speed & accuracy)
Build and Test Sensor System
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CostCost
Spotlight $ 12.00
Batteries 5.00
Pan Motor 74.74
Tilt Motor 74.74
Motor Pulley (x2) 15.04
Shaft Pulley (x2) 37.22
Timing Belts (x2) 10.00
Ultrasonic Receivers & Transmitters 60.00
Miscellaneous Costs 50.00
Subtotal $338.74
Labor: 4 members*$20/hr*2.5*140hrs 28,000.00
TOTAL $28,338.74
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ScheduleScheduleWeek 6 Final Design & Simulation
Week 7 Design Review, Order Parts
Week 8 Pan-Tilt System Construction: Dennis, Rajiv
Programming (Real-time Code): Joel, MaureenWeek 9 System Testing (Parameter & Friction Identification) : TeamWeek 10 Complete Construction and begin Phase II: Joel, Rajiv
Sensor System Construction and Testing: Dennis, MaureenWeek 11 Phase III – Integration of Sensors: Team
Week 12 Controller tuning and optimization: Team
Week 13 Demonstration of Final System: Team
Week 14 Final Report: Team
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THE ENDTHE END
Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)