target tracking spotlight (tts) maureen desi joel douglass rajiv iyer dennis trimarchi group 6
TRANSCRIPT
Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)
Maureen DesiMaureen Desi
Joel DouglassJoel Douglass
Rajiv IyerRajiv Iyer
Dennis TrimarchiDennis Trimarchi
Group 6Group 6
Introduction Introduction
What:Target illumination system that controls a spotlight which is mounted on a stationary
or moving object.
Why: Accuracy, Economic Savings
Who: Law Enforcement, Entertainment Industry
Project Goal & ObjectivesProject Goal & Objectives
Objective: Design a system to control a spotlight mounted on the pan-tilt platform so that it can follow and illuminate a moving target.
Goal: Successfully track and illuminate a moving target
Original Design Original Design SpecificationsSpecifications
Description Value
Grid Length 5 ft
Grid Width 5 ft
Pan-Tilt Height (above grid)
5 ft
Spotlight Maximum Weight
2.26 kg (5 lbs)
Spotlight Diameter 6 in
Maximum Overshoot
5 % (0.3 in)
Pan Range of Motion
± 27 ˚
Tilt Range of Motion
± 27 ˚
Pan Speed1.88 rad/s (10
ft/s)
Tilt Speed1.88 rad/s (10
ft/s)
Maximum Receiver Range
2.15 m (7.07 ft)
Overall Design ApproachOverall Design Approach
Identify Part Specifications
Simulation
Order Parts
System Construction and Programming
Research
Sensors
System Construction
Data Acquisition Program
Simulation & Testing
Testing (Parameter
Identification)
Phase I & Phase II
Phase III
Control
Order Parts
Sensor SystemSensor System
Research & Order PartsResearch & Order Parts System ConstructionSystem Construction Data Acquisition ProgramData Acquisition Program Simulation &TestingSimulation &Testing
Research & Order Research & Order PartsParts Devantech SRF-04 Ultrasonic RangerDevantech SRF-04 Ultrasonic Ranger
Voltage: 5v only required Current: 30mA Typ. 50mA Max. Frequency: 40KHz Max Range: 3 m Min Range : 3 cm Sensitivity: Detect a 3cm diameter stick at > 2 m Echo Pulse: Positive TTL level signal, width proportional to
range. Small Size: 43mm x 20mm x 17mm
Research & Order Research & Order PartsParts Devantech SRF-04 Ultrasonic RangerDevantech SRF-04 Ultrasonic Ranger
System ConstructionSystem Construction
Sensor Pair
Sensor Pair
PICARCS
Trigger
Echo
Echo
8 bit Timer
Address Bits
Data Acquisition Data Acquisition ProgramProgram
Data Acquisition Data Acquisition ProgramProgram
Data Acquisition Data Acquisition ProgramProgram
10
9
8
7
6
5
4
3
2
1
1 2 3 4 5 6 7 8 9 10
R1
R2
2R12)10
252R12R2(X
10252R22R1 Y
Data Acquisition Data Acquisition ProgramProgram
Simulation & TestingSimulation & Testing
ValueDistance
(ft)
23 0.5
41 1
58 1.5
79 2
92 2.5
108 3
124 3.5
144 4
160 4.5
180 5
Chart Title
y = 0.0291x - 0.191
0
1
2
3
4
5
6
0 50 100 150 200
value
dist
ance
(ft
)
Distance
Linear (Distance)t
Simulation & TestingSimulation & Testing
R1
R2
2.52R12)10
252R12R2(X
2.510
252R22R1 Y
* Radius of Target is added to R1 and R2
xy
Control SystemControl System
Order PartsOrder Parts SimulationSimulation System Construction & System Construction &
ProgrammingProgramming TestingTesting Phase I & IIPhase I & II
Order PartsOrder Parts
Verified selected motors met specifications
Ran non-linear simulations to view torque and speed requirements Compared data of different sized motors
Chose the best parts and placed the order
Option 1 Option Option 1 Option 22
SimulationSimulation
Linearization of Dynamic Model Experiment with Design Methods Choose Simple PID Controller
Non-Linear Simulation of Dynamic Model
Motor 1 Motor 1 Motor 2Motor 2
Linear vs. Non-linearLinear vs. Non-linear
Outer Block DiagramOuter Block Diagram
Demonstration Cases Demonstration Cases Block DiagramBlock Diagram
Point to Point Case Point to Point Case Block DiagramBlock Diagram
Controller Block Controller Block DiagramDiagram
Physical System Physical System Performance:Performance:Step ResponseStep Response
Physical System Physical System Performance:Performance:Sine TrackingSine Tracking
Demonstration Demonstration
Specification Specification ComparisonComparison
Description Desired Achieved
Grid Length 5 ft
Grid Height 5 ft
Pan-Tilt Height (above grid)
5 ft 4.25 ft
Spotlight Maximum Weight
2.26 kg (5 lbs) .1008 kg
Spotlight Diameter 6 in
Maximum Overshoot
5 % 2 %
Pan Range of Motion
± 27 ˚ ± 30˚
Tilt Range of Motion
± 27 ˚ ± 30˚
Pan Speed1.88 rad/s (10
ft/s)
Tilt Speed1.88 rad/s (10
ft/s)
Maximum Receiver Range
2.15 m (7.07 ft)
RecommendationsRecommendations
Implement a Low Pass FilterUse Trajectory Estimation AlgorithmIncorporate SRF04 PairsUse Higher Intensity Spotlight