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Semester Wrap-up

Semester Wrap-up. Michael D. Vaughan Fall 2008 4 December 2008. Outline. ECE573 – Practical (Physical) Ranger system Building new system System characterization Software used Future work ECE574 – Theoretical (Research) Proposal work Conceptual research. ECE573 – Ranger system. Pros

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Semester Wrap-up

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  1. Semester Wrap-up Michael D. Vaughan Fall 2008 4 December 2008

  2. Outline • ECE573 – Practical (Physical) • Ranger system • Building new system • System characterization • Software used • Future work • ECE574 – Theoretical (Research) • Proposal work • Conceptual research

  3. ECE573 – Ranger system • Pros • Robust • Accurate • Cons • Small work area • Designed for high-resolution scanning • Works best at very low speeds

  4. ECE573 – New system • Address issues with Ranger system • Larger work space • Designed for motion control • Accurate at higher speeds

  5. ECE573 – System characterization • Position error vs. speed at 1000 acceleration

  6. ECE573 – System characterization • Position error vs. speed at 1500 acceleration

  7. ECE573 – System characterization • Position error vs. speed at 2000 acceleration

  8. ECE573 – System characterization • Position error vs. speed at 2500 acceleration

  9. ECE573 – System Characterization • Position error vs. speed

  10. ECE573 – System characterization • Position error vs. acceleration at 100000 speed

  11. ECE573 – System characterization • Position error vs. acceleration at 150000 speed

  12. ECE573 – System characterization • Position error vs. acceleration at 200000 speed

  13. ECE573 – System characterization • Position error vs. acceleration at 250000 speed

  14. ECE573 – System Characterization • Position error vs. acceleration

  15. ECE573 – Software Used • Ranger control code • Manual entry of moves

  16. ECE573 – Software Used • Virtual joystick • Visual movement

  17. ECE573 – Future Work • Additional degree of freedom • Two-way directional control • May be accomplished now with current software • Will need additional belt and pulleys • Write additional software • Tailored to the task of visual servoing • More automated

  18. Outline • ECE573 – Practical (Physical) • Ranger system • Building new system • System characterization • Software used • Future work • ECE574 – Theoretical (Research) • Proposal work • Conceptual research

  19. ECE574 – Proposal Work • MURI2009 – T03 • Bio-Inspired Signal Sensing and Classification in Uncertain Environments • Survey of the state of the art • Tracking (blur and noise) • Navigation (scale, view point, illumination) • Documents written • Proposal • Relevance to sponsor

  20. ECE574 – Conceptual Research • Survey of equipment with recommendations • Motors • Cameras • Belts • Wear analysis of machining tools

  21. ECE574 – Survey of Motors • Servo • Motor • Gearheads • Power Supply • Cables • Stepper • Motor • Gearheads • Power Supply • Cables

  22. ECE574 – Survey of Cameras • Combination • Most flexible • Highest resolution • Smallest diameter • Large focal depth • USB-based • Autofocus • Possible compatibility issues • RCA-based • Cheapest • Direction correction needed • Largest shaft

  23. ECE574 - Combination • Purchase Camera and Scope Separately • Camera • Sony CCD Borescope Camera $799 • Scope • FS312 General Purpose Fiberscope $1075

  24. ECE574 - USB-based • USB Video Borescope $1350

  25. ECE574 - RCA-based • Intraoral Camera $395

  26. ECE574 – Survey of Belts • Belt Types • Polyurethane • Metal • Tension Measurement • Sonic • Pencil

  27. Belt Types • Polyurethane • Lighter, lower inertia • Deformation depends on load and speed • High precision under lower loads and speeds • Metal • Heavier, potential problem with tracking and sagging • Little to no deformation • High precision

  28. Polyurethane Belt • Self-tracking • BAT10 • Curved teeth • Equal power transmission • Reduced noise • SFAT10 • Displaced by ½ tooth • Reduced noise • Reduced polygonal effect

  29. Metal Belt • Solid Bush Chain • High precision solid bushes • Longer wear (1.2-4X) • Sintered Bush Chain • High precision solid bushes • Longer wear (1.2-4X) • Infrequent lubrication

  30. Tension Measurement • Sonic type • Transdev TSM4 • 7Hz to 400Hz • ±5% Accurate • $1000± • Gates 507C • 10Hz to 5000Hz • $800±

  31. Tension Measurement • Pencil type • A14Z 6-740176 • 30 lb load limit • $16±

  32. ECE574 – Wear analysis • Drill bit wears as it is used • How much does it wear? • Can we model the wear? • Model developed will help toward servoing from visual inspection as the wear occurs and automatic adjustment can be made to ensure consistent manufacturing.

  33. Questions?

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