merchiston castle school working with leonardo interactive radar€¦ · · 2018-02-15project...

Merchiston Castle School working with Leonardo

EES 2017: Radar of 54

INTERACTIVE RADAR

In conjunction with:

Also with thanks to:



ACKNOWLEDGEMENTS

First and foremost, we would like to thank Leonardo, and in particular, Euan Ward and Scott

Smith, for their unwavering support for our project. The idea for this project came from

them, and without Leonardo, we literally would not be able to have done anything.

In addition, we must thank Mr. Nicholls, for always being the herald of common sense, and

keeping us focused on what our project was actually meant to be.



CONTENTS Acknowledgements .................................................................................................................... 2

Abstract ...................................................................................................................................... 6

Introducton ................................................................................................................................ 7

Meet the team ........................................................................................................................... 8

Brian Ko .................................................................................................................................. 8

Craig Lough ............................................................................................................................. 8

Edward Webster ..................................................................................................................... 8

Rory McKinnon ....................................................................................................................... 8

Sean Tou ................................................................................................................................. 8

Leonardo .................................................................................................................................... 9

As a company ......................................................................................................................... 9

As a partner ............................................................................................................................ 9

Project Launch Day .................................................................................................................. 10

The Launch Event ................................................................................................................. 10

Project Brief .......................................................................................................................... 11

The Journey Home ................................................................................................................ 11

Initial Ideas ............................................................................................................................... 12

Brainstorming Ideas.............................................................................................................. 12

Choosing a SYSTEM .................................................................................................................. 13

Theory ................................................................................................................................... 13

Infrared ............................................................................................................................. 13

Lasers ................................................................................................................................ 13

Ultrasound ........................................................................................................................ 14

Microwaves ....................................................................................................................... 14

Conclusion ............................................................................................................................ 14

Electronics ................................................................................................................................ 15

Making the Electronics ......................................................................................................... 15

Transmitter Module ............................................................................................................. 15



Version 1: Schematic ......................................................................................................... 16

Version 2: Schematic ......................................................................................................... 16

Receiver Module .................................................................................................................. 17

Receiver schematic version 1............................................................................................ 17

Receiver Schematic 2: ....................................................................................................... 17

LEDs ...................................................................................................................................... 18

Conclusion ............................................................................................................................ 18

Computing Power .................................................................................................................... 19

Software ............................................................................................................................... 19

Arduino - Sensor ............................................................................................................... 20

Arduino - Hardware .......................................................................................................... 20

Arduino - Communication ................................................................................................. 20

Pi - Processing ................................................................................................................... 21

Pi - Display ......................................................................................................................... 21

Conclusion ............................................................................................................................ 21

Construction and Design .......................................................................................................... 22

Initial Ideas ........................................................................................................................... 22

Meccano ............................................................................................................................ 23

The Antenna Dish ................................................................................................................. 24

Key Maths ......................................................................................................................... 24

First Attempts ................................................................................................................... 25

3D Printed Final Version ................................................................................................... 27

Servo ..................................................................................................................................... 27

Final design ........................................................................................................................... 28

Testing & Conclusion ............................................................................................................ 29

Education Aspect ..................................................................................................................... 30

Initial Ideas ........................................................................................................................... 30

Implementation .................................................................................................................... 31

Conclusion ............................................................................................................................ 31



Strathclyde University Workshop ............................................................................................ 32

Project Management ............................................................................................................... 33

Future Delevelopments ........................................................................................................... 34

3D Scanning .......................................................................................................................... 34

Flightpath Analysis................................................................................................................ 34

Synthetic Aperture Radar ..................................................................................................... 34

Electronics ............................................................................................................................ 34

Conclusion ................................................................................................................................ 35

Team Statements ..................................................................................................................... 36

Brian ..................................................................................................................................... 36

Craig ...................................................................................................................................... 36

Edward .................................................................................................................................. 36

Rory....................................................................................................................................... 37

Sean ...................................................................................................................................... 37

References ............................................................................................................................... 38

Glossary .................................................................................................................................... 39

Appendices ............................................................................................................................... 40

Appendix 1 (Leonardo’s Project Brief) ................................................................................. 40

Appendix 2 (Sean’s LED Test): .............................................................................................. 43

Appendix 3 (Brian’s PCB Designs): ........................................................................................ 44

Appendix 4 (Ed’s Code)......................................................................................................... 46

Arduino ............................................................................................................................. 46

Pi........................................................................................................................................ 47

Appendix 5 (Whiteboard Image): ......................................................................................... 52

Appendix 6 (Week 1’s Minutes): .......................................................................................... 53



ABSTRACT On the 17th November, the EES Launch Day, our team met our sponsors Leonardo, and more

importantly, our project. The event was quite an intriguing and exciting day for all of our

team, and I expect the other teams as well. We found out that we were meant to make a

working radar model to be used as a display at Leonardo to help educate clients upon the

basic working of a radar. This was initially met with anticipation and apprehension, being

quite the ambitious task for 5 months work, but eagerness only took a few minutes to win

us over into a project that a had a broad range of ideas and outcomes within it.

We then proceeded with the slightly political team position allocations, which was settled

with satisfaction, having found a suitable position for everyone in our group, making full use

of each individual’s strengths. A wild brainstorm session followed, but within an hour, we

were able to tame our ideas down to a realistic yet impressive goal, albeit quite vague at the

time.

Our project came generally into 3 categories, which of course overlapped over the course of

the project; the physical construction, electronics and programming, and educational

aspect. We managed to find members adept in each role and progressed through the

project with these three areas well covered.

As for the radar itself, we made an ultrasound 180° radar in a Perspex frame, with a

parabolic 3D-printed dish mounted at the transmitter/receiver module, and an LED system

integrated into the circuitry.

Much of the prototype was built at Strathclyde University with the assistance of our

Leonardo Sponsors, and managed to get most of the physical construction of the prototype

and the 3D-printing of the dish completed there. In addition, we managed to test our new

dish against a previously made fibreglass one which in the end lost out to the 3D-printed

one.

After that, the next several months progressed well with everyone persevering for several

hours each week in the respective tasks to create components for the radar. As it neared

completion, some more teamwork was required as the 3 categories started to merge into

one product, such as taking the educational resources and making them accessible from a

Kindle Fire, or integrating the LED circuitry into the circuitry in the Perspex frame.

Towards the end of our time, we started to spend more time writing our designated

chapters on the project report, something that not a lot of us expected to be so time

consuming.



INTRODUCTON We are 5 students currently studying STEM subjects in the Lower Sixth, working in

conjunction with Leonardo, an engineering company based in Edinburgh. We were excited

to get involved in the Engineering Education Scheme because we got the chance to work on

a genuinely relevant project, and to get a feel for the inner workings of a real engineering

company.

The project brief was, very simply, to build a radar. Fundamentally, it was to be an

educational tool, to be used by Leonardo (a company that makes radars) to demonstrate

how their products work. As a result, it needed to be small scale, simple, and easy to

understand. Assisting us with the project we had two Leonardo Engineers, Euan Ward and

Scott Smith, along with Paul Nicholls from Merchiston (Head of Science and Technology).

The whole project lasted approximately 5 months, from the Launch Day on the 17 th of

November to the Celebration and Assessment Day.



MEET THE TEAM

Brian Ko Brian takes the most subjects in our team: Maths, Further Maths, Physics, Electronics and

Mandarin. Being the only member who is taking Electronics, he is in charge of our radars

circuitry. He manages all the circuits needed for the radar to work, as well as the control for

the frequency and time interval of wave transmissions. Furthermore, having past

experiences with Computer Science, he helps Ed with some of his coding work.

Craig Lough Craig is currently studying Maths, Further Maths, Physics and Chemistry. He is the team’s

project manager, in charge of organising tasks, setting deadlines, writing the non-technical

parts of the project report, and taking minutes during team meetings. Probably the most

inexperienced in any sort of science project, he learnt of Meccano and the ease of

3D-printing for the first time during this project.

Edward Webster Edward (Ed) takes Maths, Further Maths, Physics, Chemistry and Biology. With a background

of coding, he is the person in charge of most of the programming for the team. This involves

all the electronic displays, information processing, and making the virtual template of our

3D printed components such as the parabolic dish.

Rory McKinnon Rory studies Maths, Further Maths, Physics and Chemistry. Being quite a hands-on person,

he takes charge of the design of the mechanisms and structure of the radar, making parts

like the Meccano structure, Perspex box and Lazy Susan bearing. He is also usually the one

at the whiteboard during group meetings, helping to illustrate any vague concepts we

imagine up, having taken Art at GCSE level.

Sean Tou Sean is currently taking Maths, Further Maths, Physics and Economics. He is the creator of

the educational aspect of our radar, an aspect unique to our project that other teams may

not have. He created the slides about the individual components, more detailed documents

on the display board, as well as coming up the LED lighting system that illuminates the

relevant components, having studied Electronics at GCSE.



An image of the Selex Galileo Factory (Leonardo

since 28 April 2016) in Edinburgh

RAINSCANNER®, a weather radar

system by Leonardo

LEONARDO

As a company Formerly known as Selex, and a subsidiary of the Finmeccanica Group, Leonardo is a UK and

Italy based Defence Company. Formed in

January 2013, it is currently the largest

inward investor in the UK defence sector,

as well as generating exports worth around

£1.3bn to the UK economy annually.

Currently, the company is involved in

developing systems for the Euro-fighter.

Curiously, the models of the aircraft shown

advertising the company each display the

insignia and roundels of one of the partner

nations involved in building and arming its

air force with the Euro-fighter.

As a partner Leonardo being a defence company, which

specialises in early warning systems, are the ones

that gave us the task to build a radar.

This is a very suitable project for them to sponsor,

as the task is not only to build a functional radar,

but to make it educational, by ways of it being a

very simple display and very easy to understand.

Such a display may be useful for Leonardo to

demonstrate the science behind radars to clients

that do not have a full understanding of how they

work.



PROJECT LAUNCH DAY

The Launch Event Our first day of the EES experience started with a cheerful half hour minibus trip to

University of the West Scotland. Apart from the fact that we were to be assigned a project

that would occupy us for the coming months, we were unaware of what would occur within

the next few hours.

With anticipation comes apprehension, but whatever nerves we were feeling were quickly

expelled with our first activity: making a duck out of Lego pieces. It was a rather simple task,

and we had 30 seconds to do so, but it was rather

humorous to see how many different interpretations of a

duck there could be. Nevertheless, the task served its

purpose, which I assume was to relax everyone, and seem

vaguely scientific at the same time. Our next task also

involved Lego, however this one was a bit more

complicated, as we had to make a moving tow truck out

of robotic pieces. It was still following instructions

however, and none of the teams struggled. Despite its

apparent simplicity, each group was given two boxes of

pieces, and thus there was a sense of competition to see

who could finish first. The real ‘engineering’ aspect was

after all the teams finished; we had to make improvements to the truck however we could.

There were lots of ideas for this, such as using better wheels, and removing some excess

weight, etc. One of our solutions involved simply poaching a second motor from the box at

the front for double the speed.

Once the Lego tasks were concluded, we moved onto some short presentations, about the

EES programme and team management, introducing us to some new concepts such as the

Gantt chart, a vital tool that helped organise our team.

After presentations, we got down to work. We met our sponsors, Leonardo, and our

partners for the next few months, Scott Smith and Euan Ward. They briefed us on what

Leonardo was about, and more importantly, what our project was to be. When they

revealed that not only did we have to make a working radar, but also that it had to be

educational as well, it made us a bit nervous, as it seemed to be a very daunting task.

However, over the next few hours or so, they helped us to comprehend the individual



aspects to a radar, like the suitable wave, and how to focus it. With their help, we left the

hall with a sense of purpose that would linger for the upcoming months.

Project Brief Our Final Product had to fulfil several requirements (Refer to Appendix 1.):

Design a system that demonstrates the principles of a radar for visitors to Leonardo

Make a working model of a radar that measures both distance and direction

Have an interactive element for an audience, in order to educate them about how

radars work.

The Journey Home In a way, the car ride back to school was our first team meeting. After a quick trip to the

McLaren Showroom to cool off our heads, we started to discuss. Firstly, we listed down

what skills that were relevant to the project, individually, we had, such as electronics

experience and programming knowledge. From there, we decided pre-emptive group roles,

which went as such:

Brian Ko: Electronics Specialist

Craig Lough: Project Manager

Edward Webster: Programming Specialist

Rory McKinnon: Mechanical Structures Specialist

Sean Tou: Education Manager



INITIAL IDEAS During our 1st meeting, we brainstormed a general outline about what we were going to

make in the upcoming months, delegated research tasks on different waves for our next

meeting, and arranged weekly meeting times.

Brainstorming Ideas

5. First thought of our display.

Generic radar display was

popular, and discussed whether

360° was necessary - 180° may

be simpler.

6. Undecided on servo or

stepper, but leaning

towards servo from the

start again due to

familiarity.

4. Two drivers we could use were

the Pi and Arduino. There was an

initial bias towards the Arduino,

due to familiarity with it.

1. Original thoughts on parabolic dish,

mainly given it was the first thing that

came to mind when thinking ‘radar’.

Possibility of using fibreglass.

2. First discussion upon type of

wave to use, listing the pros and

cons without research, just general

knowledge. Main point of discussion

was whether to use EM or

ultrasound waves.

3. Very basic first thoughts of how the radar

would work, involving only the dish,

transmitter and receiver; whether to point

both towards dish, or have one facing in and

one away.

1.

5.

2.

4.

3.

6.



CHOOSING A SYSTEM Having spent some time keenly discussing initial ideas, we came to a point where we

needed to make a key decision before we could move on: What are we going to use to do

the transmitting? To come to a decision, we took a step back to consider the fundamentals

of remote detection.

Theory The way a radar detects objects is through the interpretation of its transmitted signal. It can

calculate distance based upon the time taken for the signal to go out and return to the

receiver. The carrier of this signal (the medium) is heavily defined by the use of the radar.

Radio is most often used because radio waves can travel large distances, which suits the

environment of most industry-level radars. Proximity sensors, which are a type of radar,

tend to use high frequency sound waves.

We went away and individually researched each of the options available to us, before

discussing them in our second meeting. The results of our research, and our following

discussion, is below.

INFRARED Infrared frequencies are those between 300 GHz and 430 THz, which is just below the

frequency of visible light. IR sensors built in circuits can provide a binary output, and there

are those which can provide an analogue output or a multiple bit output, making them quite

a versatile choice. However, the sensors with a binary output are only good for detecting

the proximity of an obstacle, not the range of it, but this type of infrared sensor is very

cheap. The analogue or digital ones can output the actual distance of the obstacle from the

sensor.

On the other hand, an infrared sensor cannot work accurately outside in the sun since it

may be affected by sunlight. A narrow beam width is needed as well.

LASERS Laser’s proved to be a very good option however they proved not to be possible due to their

cost. Lasers propagate at the speed of light and have a very narrow coherent beam which

would have allowed for massive precision. However in order to time electromagnetic

radiation we were looking at ≈ 5ns for 20m range which was considerably more than the

clock speed on most computers. This posed many problems as a computer could not be

used for any timings. More problems were then faced in that how do we get our minute

time onto the computer. There are many laser range finders available however getting a

module alone was very expensive (£150+). Removing the sensor from an existing cheaper



range finder was a possibility however this was still not a cheap solution and nowhere on

the internet could we find a documented case of someone doing it so we decided to play it

safe.

ULTRASOUND Ultrasound was easier to work with than electromagnetic waves. This was due to the fact

that it was sound so only travelled at 340m/s (≈100 million times slower than EM) so small

distances were measured in hundreds of milliseconds rather than nanoseconds. In addition

ultrasound components are extremely cheap and are easy to produce.

The problem with ultrasound however was that there is a much bigger error in distances as

the times can deviate by a lot more and also the speed of sound can vary by up to as much

as 20m/s which introduces a large error. Moreover, the ultrasonic modules all stated a

dispersion of 60º which also introduced a massive inaccuracy in finding direction.

MICROWAVES Microwaves refer to any frequency between 300 MHz and 300 GHz. Advantages include the

fact that they can penetrate haze, light rain and snow, clouds, and smoke. Shorter

microwaves are used in remote sensing. These microwaves are used for radar like the

Doppler radar used in weather forecasts.

Except for very long-distance radars, such as coastal and ship-borne over-the-horizon and

missile early warning radars, all radar systems use frequencies above 300 MHz. This is the

main reason we decided to not use microwaves. In addition, it is absorbed by water, and

thus cannot detect it.

Conclusion Ultrasound was concluded to be the most suitable for our purposes. This was due to it being

cheap and easy to produce and receive. Also because the speed of sound is vastly less than

the speed of light, timing the time it took for the pulse to get to the object and back was

possible as milliseconds are easy to measure whereas nanoseconds are extremely hard,

especially due to the fact that most clocks on computers aren’t even precise enough to time

a pulse that short.



ELECTRONICS

Making the Electronics There were 3 main electronic components required for our radar:

A. A Transmitter Module

B. A Receiver Module

C. A LED Driver Circuit

Transmitter Module

The transmitter module consists of 3 oscillators which serves different process. The 100ms

astable determines the “no transmitting” time between each pulse, this time is calculated

by the speed of sound and the maximum range of the transmitter. A CD4093BC Quad 2-

Input NAND Schmitt Trigger astable multivibrator is used instead of a NE555 as the NE555 or

other transistor based astable requires additional based components which does not give a

symmetrical square wave output. A CD4093BC ensures that the continuous square wave

output has a 1:1 on/off ratio.

The 2ms monostable is used to determine the pulse time period, this value is obtained by

trial and error to find the smallest possible transmitting time the transmitter can handle, as

the shorter the time period, the higher the sampling rate can be. The CD4011B CMOS NAND

gate is used in this circumstance.

The next stage is the multiplexer, this is essentially a logic “Switch” to allow an external

trigger to the next oscillator. This is to allow the microcontroller Arduino to trigger the

40kHz Oscillator.

The 40kHz oscillator is the frequency our ultrasonic transmitter operates at. A NE555 chip

and 2 external components are used to control the frequency because the NE555 can

provide a suitable output current to drive the US device.



We have encountered problems with the MOSFET drivers due to the physical design of the

transmitter and therefor have left it out. Smoothing circuitry is also used to ensure noise

from the PSU will not interfere with the circuit.

VERSION 1: SCHEMATIC

VERSION 2: SCHEMATIC

Improvements made in the Version 2 schematic includes a MOSFET driver from the Arduino

input as we encountered problems when triggering via the Arduino because of logic voltage

differences. The version 2 PCB also has less jumper wires to increase reliability, via points

are also added for pins to be soldered on the board.



Receiver Module

The receiver consists of 3 different stages. The first stage are the amplifiers, the signal from

the receiver is amplified by a factor of 10 for 3 times using TL081 JFET-input operational

amplifier. A capacitor on each stage is also used to filter out all low frequency signals (below

40kHz) to prevent noise from interfering with the circuit.

The comparator circuit is to convert the analogue signal to digital, the threshold is set by a

10k pot on the PCB. A diode is used to eliminate the negative voltage into the comparator as

it can only operate from 0-15v.

The monostable is used to create a time delay until the next pulse to prevent echos from

interfering with the measurements and provide a clean pulse to measure.

As the whole circuit operates at 0-15v, a potential divider is used to lower that voltage to 5v

which is the Arduino logic level voltage.

RECEIVER SCHEMATIC VERSION 1

RECEIVER SCHEMATIC 2:



In version 2 of the schematic we have decided add 3 more stages of amplifier to improve

the range of our product. We have also used thicker tracks for higher reliability and easy

soldering. Smoothing capacitors are also added for noise reduction.

LEDs We did a small experiment to test at what voltage the LEDs will work. In the experiment, we

used three LEDs which have the colours of red, green and blue and plotted a current against

voltage graph to illustrate the result. As a result, we know that the LEDs start to perform at

above 2V. After this, we decided to keep the LEDs at around 100mA because under this

situation, the LEDs are bright enough for the demonstration of the radar. As we are going to

use a 5V power supply, we calculated that the resistance for each LEDs which is 20𝞨 to 30𝞨

by simply V=IR.

NPN medium power transistors were used to allow the GPIO pins of the Raspberry Pi to

control the LEDs in response to user inputs.

At last, we chose to use 68𝞨 resistors as we don’t have any 20𝞨 to 30𝞨 for each of the LED.

A 68𝞨 resistor can give us the current around 74mA which is bright enough for

demonstrating to people how radar works.

(Refer to Appendix 2 for Sean’s LED Test)

(Refer to Appendix 3 for Brian’s PCB Designs)

Conclusion The electronics is a very significant part of the project, developments and re-designs are

conducted improve both reliability and performance. To further improve we could use

differential amplifiers to reduce noise and isolated power supply to reduce interference

between circuit boards.

The transmitter and receiver circuit were a real challenge to make work reliably and it was

very gratifying to achieve a fully working electronic system before the end of the project.

The design-test-evaluate-redesign process was definitely in evidence.



COMPUTING POWER Two main devices were used in the computing for the Radar. An Arduino was used to

control the servos and send out pulses using the ultrasound hardware, however this was

dictated by a main computer which told the Arduino where to point and then asked the

Arduino how far away the object was.

A Raspberry Pi was used on the basis that it was a cheap and compact computer, however

the program will run on any computer which can run python. The program coordinated the

Arduino by telling it where to point. The Arduino then responded with the Time of Flight to

whatever it was pointing at. The two devices communicate over a USB serial connection. By

using two devices good computing power and good input/output controls were obtained,

whereas if only one was used the other quality would have been sacrificed.

Software The aim of the software is threefold:

A. to dictate the movement of the radar

B. to control the transmitter

C. to interpret and display the information coming from the receiver

Two devices handle the software, a Raspberry Pi and an Arduino. The Raspberry Pi is the

computer overseeing the operation, and the Arduino acts as the interface between the

software and the hardware. We can discuss the roles of both devices in the context of the

three aims of the software:

A. Any instruction for movement of the motors comes from the Raspberry Pi, through

the Arduino, to the motors.

B. The Raspberry Pi passes the signal to transmit to the transmitter component through

the Arduino

C. The signal from the ultrasound receiver is passed through the Arduino to the Pi,

which handles the analysis and display



The individual programming elements are discussed below

ARDUINO - SENSOR The Arduino was connected to the transducer circuit which created the pulse. The Arduino would send a 10 microsecond pulse and then listen for the echo, which was proportional to

the distance the pulse had travelled.

The echo had to then be timed so that the distance travelled can be calculated.

ARDUINO - HARDWARE

The Arduino also had to point at the correct angles; this was achieved as follows.

ARDUINO - COMMUNICATION Once the raw data was recorded it had to be sent to the Raspberry Pi so it could be

processed and turned into useful data. The Pi and Arduino were connected via a serial

connection (either through USB or Tx and Rx pins). The Pi had to tell the Arduino where to

point (both pitch and heading) and also receive the time from the Arduino. This was done as

follows.

digitalWrite(trigger, HIGH); //Start The Pulse

delayMicrosecond(10); //Wait 10µS

digitalWrite(trigger, LOW); //Stop the Pulse

timeOne = pulseIn(echo, HIGH); //Time Antenna

Reflection

timeTwo = pulseIn(echo, HIGH); //Time of Flight

while (Serial.avaliable()>0){

command = Serial.readString();

if (command == “heading”) {

headingServo.write(serial.readString());

}

if (command == “time”) {

measureTimes();

serial.println(timeOne, timeTwo);

}

}

Servo headingServo; //Create Servo

headingServo.attach(10); //Connect Servo to Pin

10

headingServo.write(angle); //Angle dictated by Pi



The code says:

If serial data is available, read it. If the data says “heading”, ask for the angle and set the

servo to that angle. If the data says “time” it runs the function ‘measureTime()’ transmit the

information back to the Pi.

In this was the angle can be set and the times transmitted.

PI - PROCESSING The Pi would receive the data from the Arduino and turn it into distances.

Distance = Speed x time and the speed of sound is constant therefore if we know the time

we can calculate the distance.

The time was halved (because the time of flight is to the object and back) and multiplied by

the speed of sound, so as to obtain a distance.

PI - DISPLAY Once the distance was obtained the results were plotted on the display. In order to find the

coordinates on the display trigonometry was used. Here is the software used to generate

the x and y coordinates of the object.

Where heading is the angle that the radar is pointed at and the distance is how far away the

object is. SF was the scale factor so that the distance measured translated to the screen size.

All the code above is simplified, the full software can be found in Appendix 4 (Ed’s Code):

Conclusion By using the Raspberry Pi and Arduino devices and the code shown above the radar was

capable of measuring distances and certain directions and displaying this visually. The code

was originally tested using stock US devices and miniature servos and then implemented

successfully on our own hardware using our own transmitters and receivers.

x = width - SF*distance*cos(math.radians(heading))

y = height - SF*distance*sin(math.radians(heading))



CONSTRUCTION AND DESIGN

Initial Ideas With ultrasound decided on as the means of detection, attention could be turned towards

the design of the product. Initial ideas focused largely on the moving parts, and how to

achieve the smoothest and most precise movement.

We knew we would need at least one motor - stepper or servo - controlling the main

horizontal rotation of the sensors. We assumed these sensors would also come with a

parabolic dish, and so considered how to deal with the potential weight of such a set-up.

The most promising suggestion seemed to be to use a lazy Susan bearing - two plates joined

by a wide circular bearing, ideal for working with large loads. The lazy Susan’s width would

also allow for greater stability, especially if we were to have a top heavy model.

All of the individual parts would need to be housed in a way that made them clearly visible

and appealing – important parts of the teaching / educational aspect. An initial idea for this

housing was to create a box frame welded from steel struts. This would surround all the

components (apart from the dish and sensors) while leaving them clearly visible. Circuit

boards and motors could be secured to platforms further welded onto the frame. As the

modelling advanced it became clear that this idea was unnecessarily complex.

Initial whiteboard-drawn idea of the steel box design



We chose ultrasound as a carrier being well aware of the downside that the components

available to us had a very high dispersion, and that we would need to focus the beam with

an antenna (a dish). Initially we spent some time understanding the properties required of

the dish and the maths involved, before thinking about a process to create one. Fibreglass

was decided as the material for a prototype due to its strength and low weight.

MECCANO

To experiment with mechanisms for turning the radar, we built a model from Meccano, a

construction kit consisting of metal strips and plates which can be fastened together with

nuts and bolts. A 15cm lazy Susan bearing was installed, which could be driven on a central

axle by a pulley, connected to a cheap electric motor. A plate was mounted on top to allow

weight to be added. The bearing performed well, spinning with relatively little resistance

with weights up to 5kg. There were, however, issues with responsiveness due to the low

friction between the gears and the pulleys, and the whole system often had to be given a

nudge to get started.

An image of the Lazy Susan bearing with the motor attached



Going forward, we planned to incorporate gears into the model to overcome the issues with

pulleys. An option we considered was to use an internal gear around the inside

circumference of the bearing, driven by a motor in the centre. These shapes could be easily

laser cut or 3D printed

The Antenna Dish KEY MATHS In order to narrow the beam in the most efficient way, the dish had to take the shape of a

parabola. Furthermore, we had to know the exact focal point of this parabola, otherwise the

dish would be redundant.

A parabola is defined as having distance from the focal point to a point (x, y) on the parabola

equal to the distance from point (x, y) to a constant line called the DirectX. From this

information we can calculate the focal point of the parabola as follows.

Focal Point Calculation



FIRST ATTEMPTS A prototype was made from fibreglass.

We took a large piece of mountboard

and spread epoxy resin onto it in a

wide circle (the size of the dish), then

stuck a sheet of foil on top.

Once dried, we pumped air through a

valve in the middle of the board to

create a dome. The first attempt

failed as the pressure became too

high and burst the seal.

An early attempt inflated ready for the fibreglass

Foil glued to mountboard ready for moulding



The valve stopped any air escaping while we layered fibreglass on top to form the dish.

The dish could them be cut from the rest of the material using a Dremel.

While we were initially very pleased with the dish, it had problems. The maximum depth we

could achieve was relatively low, which meant increasing the radius to achieve a sensible

focal distance. This extra size made it heavy and unwieldy, which would reduce our ability to

control the radar’s movement. Another issue lay in the shape of the dish itself. The nature

of using pressure to form the dome meant that the dish we had was spherical (a section of

the surface of a larger sphere) rather than parabolic. This meant less efficient focusing, and

a different equation to find the focal point.

Layers of fibreglass on the final prototype dish

Finished fibreglass dish



3D PRINTED FINAL VERSION At the Strathclyde University Workshop we were given the opportunity to 3D print a better

dish, and were excited to do so, given the quality of the 3D printer (a resolution the width of

two red blood cells).

The design was made in Fusion 360, taking into account the flaws of the fibreglass dish. The

CAD model consisted of half a parabola rotated around a central axis with mounting points

attached. Along with these design modifications, we had to consider the restrictions of the

Strathclyde 3D printer: the diameter could not exceed 150mm. With one variable fixed, we

chose a depth that would give a focal distance in a roughly suitable range - 100-150mm.

Using the formula, the focal length came out to be 121.2mm, and the depth 11.6mm.

Both dishes were tested at the Strathclyde Workshop, the details of which can be found

further down in the Strathclyde section.

Servo Having considered using both servo and stepper motors for the rotation of the dish and

sensors, we decided to go forward with servos, mostly given that we had more experience

with them within the team.

A servo motor was incorporated into the Meccano model, attached to a central axle using

plastic gears. The servo was able to drive the model without problems – the gears allowed

for the transfer of large amounts of torque and vastly increased responsiveness. This

increase in torque enabled a 1:1 gear ratio to be used, meaning that the programming didn’t

have to compensate for a change. The 3D printed dish was mounted onto the model and

was relatively stable when turning.



Final design The final design makes further improvement in all areas. Most fundamentally, a second

servo motor is attached directly to the dish to provide movement in a vertical axis as well as

horizontal. A Perspex plate is attached to the lazy Susan to provide a platform for this

second motor, which is itself secured with a line-bent Perspex mount.

The mechanism which drives the rotation has been simplified. A servo motor is mounted

beneath the lazy Susan, and four bolts extend up from the servo head through the Perspex

plate. This method combines the driven and driver axle into one, rather than connecting

them via gears or pulleys. The weight of the dish and sensors still rests on the lazy Susan

bearing, with the power coming from the servo.

Instead of a box frame surrounding the whole device, each constituent part is mounted onto

a Perspex base. The lazy Susan is raised above the rest by four aluminium tubes, which have

been tapped and bolted through the base. This is to ensure the beam is not obstructed by

anything else on the board.

The Meccano Model without the transmitter/receiver module mounted

Perspex construction showing lazy-susan and servo mounts



The sensors have been mounted within a small piece of mount-board, attached to three

wires extending from the dish.

Testing & Conclusion The servo was initially encountering large amounts or resistance when turning, which was

due to a misalignment of the holes drilled in the lazy Susan plate. Given that the

misalignment was small, this could be fixed by widening the holes to provide more ‘give’

when turning.

Overall, the aesthetic is good, if a little cramped. The Perspex platform will eventually be

changed from dark red to transparent to allow the users to clearly see the servo motor

beneath.



EDUCATION ASPECT

Initial Ideas The idea of interaction was central to our thoughts surrounding the teaching aspect. We

wanted users to be able to engage with the information in the most exciting (yet feasible)

way.

A concept we had all seen in museums was to use buttons to light up different sections of a

model or exhibit, and so we were keen to take this forward. Using buttons secured to the

base of the radar would have been problematic as it would have prompted users to stand

too close to the dish and sensors (the software and analysis becomes unreliable at short

distances). Instead we considered using a touch-screen tablet, which could be given to the

users, to activate the lights on the model.

The way the information was presented was important to consider. The most appealing way

seemed to be to take the user on a ‘journey’ of the process of detecting an object with a

radar. The information was blocked into sections of a flowchart, starting with the generation

of the signal and ending with the analysis and display.

Splitting the information up this way had the added benefit that it could correlate to the

buttons discussed earlier. Each block of the flowchart corresponded to both a brief segment

of information, and a physical part of the radar, which could be lit up.

An image of the flow chart



Implementation The power of the Raspberry Pi was once again used. The Raspberry Pi was made to act as a

WiFi hotspot allowing the Kindle to connect wirelessly to the Pi. The Pi was made to run a

basic webserver (based on apache) hosting the pages of information. This had the

advantage that the information could be easily updated. The Pi’s WiFi network was accessed

by IP address by the Kindle as the Kindle seemed incapable of resolving a hostname. The

WiFi network was not broadcast as a public hotspot.

Pressing on-screen buttons on the Kindle prompted the Pi’s webserver to activate logic

levels on the various GPIO pins. These GPIO pins were connected, via transistor drivers, to

the high power LEDs discussed previously.

Conclusion Overall, this resulted in an elegant final solution. A tablet (a kindle fire) displays a

homescreen with 6 buttons - an introductory explanation followed by a 5-step flowchart. As

the user presses a button, the page changes to show the relevant information, and the

corresponding part of the radar lights up in front of them. The information briefly takes

them through a part of the process, before guiding them back to the homescreen for the

next step in the flowchart.

We were pleasantly surprised by how straight-forward this part of the project was to

implement.



STRATHCLYDE UNIVERSITY WORKSHOP Once we arrived at Strathclyde we immediately began brainstorming as to what we wanted

to complete. With very well equipped electronics workshops and 3D printers we were keen

to create a parabolic dish and begin work on prototype transmitter and receiver circuits. In

addition with Euan and Scott’s expertise to hand we were keen to characterise the beams

and their efficiency.

The beam produced by each dish had to be characterised so that we knew how much it

dispersed by. We did this by mounting a transmitter in the focal point and moving a receiver

around in an arc, measuring the angle as we did so. The amplitude of the signal received

was measured and graphed against the angle, so that we could see how the beam

dispersed. The graphs we obtained are shown below:

We were immensely pleased with the results. Firstly, the fibreglass dish gave a large

improvement on the unaltered transmitter, both narrowing it and increasing its power. The

fibreglass antenna, however, was dwarfed when compared to the 3D printed dish, which

provided the same gain once more over.



PROJECT MANAGEMENT The main way our team was organised was through something that we were taught at the

Launch Day, a Gantt chart.

It diagrammatically represents our entire schedule that we must adhere to, as well as

showing very clearly where our priorities should lie.

Our team held weekly meetings, 4pm on Thursdays, which were an hour long, with the

priority on every member telling the other what he had achieved that week, any problems

that arose, and also everyone getting briefed on what their tasks for next week were. In

addition, this was the time where any big decisions regarding our product were made, such

as the initial designs and components that needed to be acquired/made. Thus each week

usually had a whiteboard plan to visually illustrate our ideas, and also a set of minutes to

keep tabs on progress. Any leftover time was spent in the workshop to get some extra time

in.

(Refer to appendices 5 and 6, images of a whiteboard and week 1’s minutes as an example)

Communication was an aspect of teamwork that was very easily dealt with, as it took a

minute to set up a WhatsApp chat group that not only was very simple to communicate

with, but had the added bonus of being able to store related media. However, there was an

issue of the images and videos being quite hard to access if we needed to access them on a

computer, so we transferred everything to a shared Google Drive, in which we could easily

sort files into folders, as well as collaboratively work on the Project Report.

Our Gantt chart at a point in time roughly halfway through the project



FUTURE DELEVELOPMENTS

3D Scanning By using a pitch servo we could scan in 3D dimensions around the Radar. This could be

displayed as contour lines using trigonometry. Alternatively the distance could be

proportionally translated to a grey between black and white and a photo generated. This

was not incorporated as the maths was very complicated in too little time as the dish was

not revolving perfectly around an axis.

Flightpath Analysis Another development would be to allow the software to look for patterns such as lines and

patterns in moving points which would allow moving objects to be detected and followed.

The software did highlight moving points in a separate colour however it had no capabilities

to “look” for moving objects, however if it could its velocity and direction could be shown

and this data used to calculate things like where the object will be in future of if it will

collide with the radar or potentially another object.

Synthetic Aperture Radar Synthetic Aperture Radar (SAR) uses lots of complex maths to join several scans together

over an accurately known distance to generate a very accurate scan from many low

resolution ones. Because it measures from different points it verifies the whether an object

exists and the shape of the object which is not achievable through a single scan.

Electronics Differential amplifiers could be used to reduce the noise generated from the circuits, an

isolated power supply could also prevent interference from the transmitter board and

receiver board. A power amplifier could also be used to boost the output of the transmitter

from 15V to 30V or more. Increasing the output power of the US transmitter would be a

future priority as this would dramatically increase the range.



CONCLUSION Having been tasked with a project that we considered extremely ambitious, our team has

managed to produce an educational resource in the form of an interactive radar.

Our device managed to:

Determine the distance and direction of an object through ultrasound beams

Automatically rotate 180° on a clear Perspex box

Use an Arduino to operate the radar’s mechanisms and interpret information

Utilise a Raspberry Pi in order to display information in a diagrammatic fashion

Display information in an intuitive flow chart design on a Kindle Fire

Use an LED system to illuminate the different components of the radar that were

relevant to the screen being shown on the Kindle

The interactive radar has been confirmed to not only operate as a standalone device of

detection, but also uses its clear structure to its advantage in teaching the public of the basic

workings of a radar in an easy to understand manner, which completely satisfies the project

brief we had been given, something that not everyone in our group had thought was

possible upon hearing about it for the first time.

Being this team’s project manager, I was deeply impressed by my team’s ingenuity,

capability, and most important of all, dedication. I am very grateful for their continued faith

and effort in our project, in which every member had contributed their maximum effort to,

to create something that I, for one, am extremely proud of.

Most of all, I hope that this radar, which most important use is to educate, will inspire

younger students to pursue a scientific-related career, and perhaps one day participate in

the EES.



TEAM STATEMENTS

Brian Throughout this project I have developed circuit design skills for both analogue and digital

circuits. Testing my circuit also allow me to gain experience on using technical equipment

such as frequency generator and oscilloscope. The final circuit is created using PCB Design

software and PCB manufacturing facilities which I find very tricky to use but perfected it by

the time I am on my fourth design of my circuit. I have also learnt to effectively

communicate my circuit operation procedure to ensure that the software developer

(Edward) understood how to make the software communicate with the hardware. I have

also learnt how to use CAD software such as 2D Design to design the servo bracket and the

frame of the product, the CAD file is sent to the laser cutter. Although I have encountered a

lot of problems in 3D printing some of the parts for the product, towards the end of the

project I was able to debug and resolve problems very quickly as I have gained a lot of

experience. During the visit to Leonardo I learnt about their testing facilities and the role of

a working day to day engineer. I have developed my team management and work hard to

manage project deadlines.

Craig The EES has given me insight into the different aspects to how engineering firms operate.

Preconceptions included the notion that 90% of our time would be spent in a workshop

making our final product, but reality showed that planning our project and documenting our

progress takes up a significant and surprising amount of time. Being the Project Manager, I

primarily gained skills involving team communication, organisation and planning. On the

other hand, I picked up knowledge of practical techniques from laser cutting and working

with Perspex, to moulding fibreglass.

Edward In this project I have learnt the importance of teamwork and sticking to a deadline. Several

years ago I made a very similar Radar using off the shelf servos and ultrasonic transceiver

modules which provided a solid foundation on which to base the softwar. Moreover I have

honed in my 3D design skills by designing increasing complex structures such as parabolic

antennas. It was also extremely exciting to get to see and use the 3D printers at the

workshop. Having designed the 3D Printed components, written all the software, the

information website and its functions and working tirelessly to make Brian’s circuits work

with everything it was quite difficult to complete the project on time but the experience has

helped me with my time management.



Rory Going into this project I had had relatively little experience of bringing an idea fully into

reality. I was excited to see my ideas come together in the construction of the model, and

even more so when the other aspects came together with it to create a working design. I

have enjoyed discussing and refining ideas among the team and with our mentors from

Leonardo, and am genuinely proud of what we have achieved.

Sean In this project, I have learnt the importance of completing tasks to a set deadline and

developed some advance knowledge in electronics. During the trip to Leonardo, I learnt a

lot of in-depth knowledge about radars. It also helped broaden my knowledge about the

uses of radars on a commercial scale, and also brought to my attention different aspects of

radar production as a business, for instance environmental testing. Overall, this project has

given me more confidence heading into the challenging projects set in the engineering

courses at universities which I hope to attend, which I am grateful for.



REFERENCES

http://www.sensorsmag.com/components/ultrasonic-transmitters-vs-guided-wave-radar-for-level-measurement

https://en.wikipedia.org/wiki/Radar

http://simplybearings.co.uk

http://www.uk.leonardocompany.com

http://www.pcbcart.com/article/content/PCB-manufacturing-process.html

http://www.electronics-tutorials.ws/opamp/opamp_2.html

https://en.wikipedia.org/wiki/Schmitt_trigger

https://www.uwlax.edu/its/helpdesk/

http://www.radartutorial.eu/20.airborne/ab07.en.html



GLOSSARY Capacitor – A passive two-terminal electrical component that stores energy in an electric

field

Dremel – An American Brand of rotary power tools

Function - A snippet of code that can be called upon to perform a task

Lazy Susan Bearing - A bearing that acts like a turntable, using ball bearing to assist in the

rotation of two plates effectively despite significant weight on the bearing iteslf

Medium – The substance through which the wave travels

Monostable - An electronic circuit that generates an

output pulse. When activated, a pulse of a pre-defined

duration is produced.

Oscillator – An electronic circuit that produces a

periodic, oscillating electronic signal, in our case being a

square wave.

Parabola – A two-dimensional, mirror-symmetrical curve, which is approximately U-shaped,

for example following the graph of y = x2

Potential Divider - A linear circuit that produces an output voltage that is a fraction of the

input voltage

Servo – affordable mass-produced servomotors, often

used in small scale robotics. Most, like ours, act as rotary

actuators.

Stepper Motor - A DC electric motor that divides a full

rotation into a number of equal steps.

String - A variable, something the program “remembers”

2 4

3

A servo

Mechanism of a

stepper motor



APPENDICES

Appendix 1 (Leonardo’s Project Brief)



Appendix 2 (Sean’s LED Test):



Appendix 3 (Brian’s PCB Designs):

Transmitter Version 1:

Transmitter Version 2:

Receiver Version 1: Receiver Version 2:



Receiver version 3:

LED Driver Version 1:



Appendix 4 (Ed’s Code)

ARDUINO #include <Servo.h>

#define ultrasonicEcho 9

#define ultrasonicTrigger 8

long timeOne;

long timeTwo;

String serialHeadingAngle = "";

String serialPitchAngle = "";

String command;

Servo headingServo;

Servo pitchServo;

void setup(){

headingServo.attach(10);

pitchServo.attach(11);

pinMode(ultrasonicTrigger, OUTPUT);

pinMode(ultrasonicEcho, INPUT);

Serial.begin(9600);

Serial.setTimeout(0);

while (!Serial) {

headingServo.write(0);

pitchServo.write(90);

}

Serial.println("Connected");

}

void loop(){

while (Serial.available() > 0) {

command = Serial.readString();

if (command == "heading") {

Serial.print("Input Heading: ");

while (Serial.available() == 0) {

}

serialHeadingAngle = Serial.readString();

headingServo.write(serialHeadingAngle.toInt());

Serial.println(headingServo.read());

}

if (command == "pitch") {

Serial.print("Input Pitch: ");

while (Serial.available() == 0) {

}

serialPitchAngle = Serial.readString();

pitchServo.write(serialPitchAngle.toInt());

Serial.println(pitchServo.read());

}

if (command == "time") {



Serial.println("Measuring Times");

measure();

}

}

}

void measure() {

ping();

timeOne = pulseIn(ultrasonicEcho, HIGH, 60000); //400microseconds

for 12cm

timeTwo = pulseIn(ultrasonicEcho, HIGH, 400); //60000microseconds

for 20m

Serial.print("Time One: ");

Serial.println(timeOne);

Serial.print("Time Two: ");

Serial.println(timeTwo);

}

void ping() {

digitalWrite(ultrasonicTrigger, LOW);

delayMicroseconds(2);

digitalWrite(ultrasonicTrigger, HIGH);

delayMicroseconds(10);

digitalWrite(ultrasonicTrigger, LOW);

}

PI

import Tkinter, math, time, serial, atexit

from Tkinter import *

from math import *

backgroundColour = "Black"

foregroundColor = "Green"

sweeperRange = 500

heading = -1

pitch = 90

UISweeper = 0

trackedObjects =

{0:0,1:0,2:0,3:0,4:0,5:0,6:0,7:0,8:0,9:0,10:0,11:0,12:0,13:0,14:0,15



:0,16:0,17:0,18:0,19:0,20:0,21:0,22:0,23:0,24:0,25:0,26:0,27:0,28:0,

29:0,30:0,31:0,32:0,33:0,34:0,35:0,36:0,37:0,38:0,39:0,40:0,41:0,42:

0,43:0,44:0,45:0,46:0,47:0,48:0,49:0,50:0,51:0,52:0,53:0,54:0,55:0,5

6:0,57:0,58:0,59:0,60:0,61:0,62:0,63:0,64:0,65:0,66:0,67:0,68:0,69:0

,70:0,71:0,72:0,73:0,74:0,75:0,76:0,77:0,78:0,79:0,80:0,81:0,82:0,83

:0,84:0,85:0,86:0,87:0,88:0,89:0,90:0,91:0,92:0,93:0,94:0,95:0,96:0,

97:0,98:0,99:0,100:0,101:0,102:0,103:0,104:0,105:0,106:0,107:0,108:0

,109:0,110:0,111:0,112:0,113:0,114:0,115:0,116:0,117:0,118:0,119:0,1

20:0,121:0,122:0,123:0,124:0,125:0,126:0,127:0,128:0,129:0,130:0,131

:0,132:0,133:0,134:0,135:0,136:0,137:0,138:0,139:0,140:0,141:0,142:0

,143:0,144:0,145:0,146:0,147:0,148:0,149:0,150:0,151:0,152:0,153:0,1

54:0,155:0,156:0,157:0,158:0,159:0,160:0,161:0,162:0,163:0,164:0,165

:0,166:0,167:0,168:0,169:0,170:0,171:0,172:0,173:0,174:0,175:0,176:0

,177:0,178:0,179:0,180:0}

trailColour = {5:"#ff4000", 10:"#ff4000", 15:"#ff4000",

20:"#ff4000", 25:"#ff4000", 30:"#ff4000", 35:"#ff4000",

40:"#ff4000", 45:"#ff4000", 50:"#ff4000", 55:"#ff4000",

60:"#ff4000", 65:"#ff4000", 70:"#ff4000", 75:"#ff4000",

80:"#ff4000", 85:"#ff4000", 90:"#ff4000", 95:"#ff4000",

100:"#ff4000", 105:"#ff4000", 110:"#ff4000", 115:"#ff4000",

120:"#ff4000", 125:"#ff4000", 130:"#ff4000", 135:"#ff4000",

140:"#ff4000", 145:"#ff4000", 150:"#ff4000", 155:"#ff4000",

160:"#ff4000", 165:"#ff4000", 170:"#ff4000", 175:"#ff4000"}

preX = 500

preY = 500

Window = Tkinter.Tk()

Window.geometry("1400x500")

Window.title("Radar Display")

Window.configure(background=backgroundColour)

Display = Canvas(Window, width=1000, height=500,

bg=backgroundColour, highlightthickness=0) ##262a32

Display.pack()

Display.place(x=0, y=0)

Display.create_oval(0,0,2*sweeperRange,2*sweeperRange,

outline=foregroundColor)



Screen = Canvas(Window, width=400, height=500, bg=backgroundColour,

highlightthickness=0) ##262a32

Screen.pack()

Screen.place(x=1000, y=0)

USB = serial.Serial("/dev/cu.usbmodem1411", 9600)

print USB.readline().replace('\r\n', '')

def update():

global heading, pitch, UISweeper, preX, preY

Display.delete(UISweeper)

if heading == 180:

if pitch == 115:

setPitch(45)

pitch = 45

pitch = pitch + 5

setPitch(pitch)

setHeading(0)

heading = 0

time.sleep(1)

heading = heading + 1

scan(heading, pitch)

xSweeperCoordinate = sweeperRange -

500*cos(math.radians(heading))

ySweeperCoordinate = sweeperRange -

500*sin(math.radians(heading))

UISweeper = Display.create_line(500, 500, xSweeperCoordinate,

ySweeperCoordinate, fill=foregroundColor)



x = 500 -

50*distance*cos(math.radians(heading))*sin(math.radians(pitch))

y = 500 -

50*distance*sin(math.radians(heading))*sin(math.radians(pitch))

Display.create_line(x,y,preX,preY, fill=trailColour[pitch])

preX, preY = x,y

Display.delete(trackedObjects[int(heading)])

trackedObjects[int(heading)] = Display.create_oval(x-1,y-

1,x+1,y+1, fill="Green", width=0)

altitude = 250*sin(math.radians(pitch-90))

xDistance = 200*cos(math.radians(heading))

x2 = 200-xDistance

y2 = altitude + 250

colour = 190 - 190*distance*sin(math.radians(heading))

if colour < 0:

colour = 0

depth = "#%02x%02x%02x" % (colour, colour, colour)

Screen.create_rectangle(x2-1.1,y2+7.35,x2+1.1,y2-7.35,fill=depth,

outline=depth)

Window.after(50, update)

def setHeading(heading):

USB.write("heading")

time.sleep(0.001)

USB.write(str(heading))


def setPitch(value):

USB.write("pitch")



time.sleep(0.001)

USB.write(str(value))


def getTimes():

global distance

USB.write("time")


timeOne = int(USB.readline().replace('\r\n', '').replace("Time

One: ", ""))

timeTwo = int(USB.readline().replace('\r\n', '').replace("Time

Two: ", ""))

distance = 0.00024085 * timeOne #timeTwo not timeOne

def scan(heading, pitch):

setHeading(heading)

setPitch(pitch)

getTimes()

update()

Window.mainloop()



Appendix 5 (Whiteboard Image):



Appendix 6 (Week 1’s Minutes):



“Engineers like to solve problems. If there are no problems handily available, they

will create their own problems.”

Scott Adams

merchiston castle school working with leonardo interactive radar€¦ · · 2018-02-15project...

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