Motion Tracking &Position

Acquisition

Final Design Review

Solomon Gates | William K. Grefe | Jay Michael Heidbreder | Jeremy Kolpak

Overview of Project Objective

Achieve accurate and precise motion of laser pointer directed at a locator beacon

Obtain precise object position from sensor input

Design Objectives

Simulate control system Refine motor control system Test tracking accuracy Maintain motor feasibility

Final component decision Final motor justification Pulley gear ratio Sensor specifications Cost analysis

Completed simulation and design specs on schedule

Plan of Action

Week 8 Parts Purchasing

Assemble & Test Pan/TiltWeek 10

Simulate Position Acquisition Test Beacon and ReceiversWeek 11

System IntegrationWeek 12

Final TestingWeek 13

Linear Simulation Non-Linear SimulationThis week

Original Design Specifications Object tracking velocity:

Object velocity of 10 mph Pan/Tilt velocity of 10 radians per second Object acquisition within 1 second

Distance to object: ½ft – 20ft Range of motion:

Pan range of 180° Tilt range of 90°

Sensor accuracy: Detection distance of ½ft – 20ft Detection cone 60° – 180°

Beacon accuracy: Transmission distance of up to 20ft Transmit 30 times per second

Testing Procedure

Fixed point accuracy & acquisition speed Sinusoidal input tracking Realistic tracking (torque saturation)

Trapezoidal input tracking Random path tracking

Tolerance Analysis

Fixed point accuracy: Sinusoidal tracking accuracy: Random path tracking accuracy:

1/2” @ 20 ft; 1/8” @ 6”

Beacon acquisition accuracy: unknown

Tracking moving beacon: 1” @ 20 ft; 1/4” @ 6”

Part Justification Motor candidates:

GM8274S010, GM8274S013, GM8712-11 Speed and torque requirements met using a

variety of gains and gear ratios connected to motor candidates

In simulations, large gear ratios gave more power at slower speeds and visa versa

After different configurations, we arrived at particular gains and a gear ratio of 4:1

Pulley dimensions were chosen at this ratio Grooves on pulleys also match ratio

Motor Analysis

Motor Analysis

Motor Analysis3 13

Motor Analysis

Realistic Tracking Simulation

Realistic Tracking Simulation

Realistic Tracking Simulation

Realistic Tracking Simulation

Realistic Tracking Simulation

Random Path Tracking

Testing Results

Desired

Specifications

Simulation Results

Θ1

Simulation

Results

Θ2

Tracking velocity

≥10 rad/sec 12 rad/sec 15 rad/sec

Acquisition time (over π radians)

≤1.5 seconds 0.8 seconds 0.6 seconds

Linearization Model

Sensor Design: Beacon

Ultrasonic transceiver sends sound wave in a 60° cone

Distances of up to 30ft

RF signal transmitted in 360°

RF signal range of up to 300ft

Sensor DesignBeacon will be built from six ultrasonic transceivers

to allow 360° rangeThree receivers will detect signal propagation time

Final Part DecisionSupplier: Pittman Express

Lo-Cog DC Gearmotor GM8724S010 (qty: 2)

Supplier: Stock Drive Products/Sterling Instrument

100 Teeth, Aluminum Alloy Timing Pulley -- A 6A61-00NF03112 (qty: 2)25 Teeth, Aluminum Alloy Timing Pulley -- A 6A 6-25DF03106 (qty: 2)

Supplier: Oatley Electronics

40KHz transmit transducer -- MA40A3S (qty: 6)40KHz receive transducer -- MA40A3R (qty: 3)

Supplier: Abacom Technologies

RF transmitter -- AM-TX1-4xx (qty: 1)RF receiver -- AM-HRR3-xxx (qty: 3)

Cost Analysis

Item Quantity Cost (each) Total CostMotors 2 $112.00 $224.00Large pulleys 2 $11.87 $23.74Small pulleys 2 $13.01 $26.02Belts 2 $1.50 $3.00Laser Pointer 1 $3.00 $3.00RF Transmitter 1 $12.61 $12.61Ultrasonic Beacon 6 $3.00 $18.00RF Receiver 3 $10.95 $32.85Ultrasonic Receiver 3 $3.00 $9.00Micro Controller 3 $20.00 $60.00Miscellaneous Electronics 1 $50.00 $50.00

Total Cost $462.22

Schedule