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THE PRINT- SCAN Machine 3-D Spatial Mapping Device

THE PRINT- SCAN Machine 3-D Spatial Mapping Device. Nia Cook Stephen Tan Anil Rohatgi Senior Design Final Report Presentation ECE4006 Spring2005. Introduction. Project Goal

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THE PRINT- SCAN Machine 3-D Spatial Mapping Device

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  1. THE PRINT-SCAN Machine3-DSpatial Mapping Device Nia Cook Stephen Tan Anil Rohatgi Senior Design Final Report Presentation ECE4006 Spring2005

  2. Introduction • Project Goal Use of 3-D imaging techniques to measure the detailed physical structure of the interior of a confined space and map it into a virtual 3-D environment • Prototype The PRINT-SCAN Machine

  3. Project Specifications • 10cm*10cm*10cm cubic volume • Ability to capture physical detail (preferably at the micron level) • Ability to measure the size and shape of objects • Ability to measure relative positions of multiple objects within the volume • Cannot employ imaging techniques using x-rays

  4. Project Constraints • Objects are stationary within volume • Objects have low reflectivity • Objects are not in contact with neighbor • A four month time limit • Design cannot exceed $500 budget

  5. Component List • Sharp GP2D12 distance measuring sensor • IR Mirrors • HP Inkjet Printers • HP 5-49A Ink Cartridges • HP 5-29A Ink Cartridges • D1984 Data Capture with WINDAQ software • Constructed ten centimeter volume • Driver Circuit (L298N and SN74LS04N)

  6. Theoretical Design

  7. Project Technical Details • Box construction • 10 cm cube with open top • Tracks on inside to stabilize mirrors • Flaps on box for data threshold segmentation • Driver Circuit • SN74LS04N inverter toggles the L298N H-bridge so that printer moves back and forth • Function generator provides 100 mHz square wave as input • Power supply inputs 7 – 8 V for reasonable printer head speed

  8. Project Technical Details • Laser Sensors • Read distance as a function of voltage • Records voltages in Excel • 10 cm to 80 cm range • Mirrors • Reflective for 850 nm laser sensor • Angled at 45 degrees to reflect the laser beam to the object • Incremented upwards to capture object height

  9. Prototype Design

  10. Data Reconstruction • Sensor characterization • Power regression line: 8.0082x^(-0.837) • Correlation percent: 99.64% • Inverse regression applied to data

  11. Data Reconstruction • Data Imported from Microsoft Excel to Matlab for processing • Data needs to be segmented into vertical divisions

  12. Data Reconstruction • Matrix structure and corresponding coordinate values

  13. Data Reconstruction • Three reconstruction techniques Spline fit Point cloud Mesh Grid

  14. Data Reconstruction • Video demonstration result: • Attempted to scan two rubber wheels staggered inside the volume • Managed to reconstruct shape and location, however, recovering the spacing between the objects did not function. • Errors were in the data, not in the data processing

  15. Lessons Learned • Scheduling • IR Sensor Interaction • Power Drive • Calculations

  16. Conclusion • Although the device did not perform as well in real life as expected, there was adequate data to support proof of concept. • With better equipment, and more funding, the design could be extended to achieve the optimal goals of the project. Initial Specifications: Achieved Specifications:

  17. Questions? ??

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