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Group 6 Target Tracking Spotlight (TTS)

Group 6 Target Tracking Spotlight (TTS). Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi. Motivation. WHO Law Enforcement Entertainment Industry. WHY Speed & Accuracy Economic Savings. Similar Products. Martin Lighting Director (MLD) 3D Tracking System for automated followspot

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Group 6 Target Tracking Spotlight (TTS)

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  1. Group 6Target Tracking Spotlight (TTS) Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi

  2. Motivation • WHO • Law Enforcement • Entertainment Industry • WHY • Speed & Accuracy • Economic Savings

  3. Similar Products • Martin Lighting Director (MLD) • 3D Tracking System for automated followspot • 4 Ultrasonic Speakers • frame of reference for tracking system • Modified Wireless Microphone • Detects ultrasonic pulses from speakers • Sends radio signals back to the MDL system • http://www.martin.dk/product/product.asp?product=lightingdirector

  4. Project Goal & Approach Goal Successfully track and illuminate a moving target with a spotlight. 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.

  5. Objectives • 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

  6. Design Strategy Sensors Control Identify Part Specifications Data Acquisition Program Simulation Order Parts Simulation Order Parts System Construction and Programming System Construction and Programming Testing (Parameter Identification) Testing (Parameter Identification) Phase I Phase II Phase III Project Completion!

  7. Plan of Action Identify Part Specs • 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 Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  8. Plan of Action Identify Part Specs • 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 Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  9. Plan of Action Identify Part Specs • Timing Belts • Polyurethane Belt • 0.0816 in. (40 D.P.) Pitch • 135 Teeth • 3/16 in. wide • Pitch Length = 11.02 in. Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  10. Plan of Action Identify Part Specs • Spotlight • RAYOVAC Sportsman • Mass = 0.1008 Kg • Height = 2.5 in • Length = 3.0 in • Width = 2.5 in • Center of mass Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  11. Plan of Action Identify Part Specs • 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 Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  12. Plan of Action Identify Part Specs • 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 Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  13. Kp1 = -0.9 Kd1 = -0.09 Kp2 = -0.55 Kd2 = -0.035

  14. Kp1 = -2.0 Kd1 = -0.1 Kp2 = -2.0 Kd2 = -0.1

  15. Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  16. Plan of Action Identify Part Specs • 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) Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  17. Plan of Action Identify Part Specs • 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 Controller Simulation System Construction/Programming, Testing Phase I Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

  18. Cost 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*140hrs28,000.00 TOTAL $28,338.74

  19. Schedule Week 6 Final Design & Simulation Week 7 Design Review, Order Parts Week 8 Pan-Tilt System Construction: Dennis, Rajiv Programming (Real-time Code): Joel, Maureen Week 9 System Testing (Parameter & Friction Identification) : Team Week 10 Complete Construction and begin Phase II: Joel, Rajiv Sensor System Construction and Testing: Dennis, Maureen Week 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

  20. THE END Target Tracking Spotlight (TTS)

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