Group 6Group 6

Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)Maureen DesiMaureen Desi

Joel DouglassJoel Douglass

Rajiv IyerRajiv Iyer

Dennis TrimarchiDennis Trimarchi

MotivationMotivation

WHY

•Speed & Accuracy

•Economic Savings

WHO

•Law Enforcement

•Entertainment Industry

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

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

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

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!

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

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

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

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

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

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

Kp1 = -0.9

Kd1 = -0.09

Kp2 = -0.55

Kd2 = -0.035

Kp1 = -2.0

Kd1 = -0.1

Kp2 = -2.0

Kd2 = -0.1

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

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)

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

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

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

THE ENDTHE END

Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)