KAITLIN PERANSKI: IE , PROJECT MANAGERJEREMY BERKE: EE, SCRIBE/LEAD SOFTWARE

CHRIS CAPORALE: EE , LEAD HARDWARESPENCER WASILEWSKI: ME, MODELING/MACHINIST

KYLE JENSEN: ME, NST MODULE EXPERTKYLE LASHER: ME, TEST BENCH DESIGNER

P14372Actively Stabilized Hand-Held

Laser Pointer

Agenda

BackgroundSystem Analysis Concept Development Detailed Risk AssessmentProject ScheduleTest PlanChallengesAction Items

P R O B L E M S TAT E M E N T S TA K E H O L D E R S

C U S T O M E R N E E D S E N G I N E E R I N G R E Q U I R E M E N T S

H O U S E O F Q UA L I T Y B E N C H M A R K I N G R E S U LT S

C U R R E N T P R O J E C T S C H E D U L E

Background

Problem Statement

• Current State: • Module from NST that can steer a laser beam• Lacks the ability to detect and reduce unwanted

vibrations• Future State:• System to sense and interpret vibrations• Output to NST Module for corrective action

• Goals:• Handheld, self-contained and safe design

• Constraints:• Operating temperature, package size

Stakeholders

New Scale Technologies, Victor, NY Dave Henderson, Owner Daniele Piazza, R&D

RIT & MSD

MSD Group

Needs and Requirements

Customer Needs

Engineering Requirements

House of Quality

Top Concerns:1. Amp Reduction2. Response Time

3. NST Laser Steering

Benchmarking Results

Comparison of Gyroscopes and Accelerometers Gyroscope: output given in rad/sec; measures roll, yaw

and pitch; possible vendor- InvenSense IDG- 1000 Accelerometer: cannot sense yaw directly; requires

more computationTarget Frequency Range: 1-20 Hz

Round 1 testing confirmed range

Frequency Range Testing

Frequency Range Testing

Frequency Range Testing

Arm Extended, Unfiltered

Arm Extended, Filtered

Test Bench Ideas

Requirements:• Frequency: 1-20 Hz• Amplitude: +/- 2 degrees

Patent Results

US 7553048 B2 Uses a gimbal (13) and magnet (80)

Patent Results

US 7380722 B2 Uses 2 accelerometers and a mirror

Patent Results

US 8436908 B2 Uses a stabilizer and actuators

Patent Results

US 20130077945 A1 Uses 3 actuators and a gyroscope

Current Project Schedule

FUNCTIONAL DECOMPOSITION SYSTEM ARCHITECTURE

System Analysis

Functional Decomposition

System Architecture

MORPHOLOGICAL ANALYSIS CONCEPT ALTERNATIVES

PUGH MATRIX CONCEPT SELECTION

SYSTEM ARCHITECTURE

Concept Development

Morphological Analysis

Morphological Analysis

The driving decision currently is digital versus analog.

Concept 1 Concept 2

BatteryGyroscopeAnalog LPFHardware

IntegratorHardwareServo ModeNST Module

Battery GyroscopeAnalog LPFHardware

IntegratorSoftwareDigital USBNST Module

Concept Alternatives

Concept 3 Concept 4

BatteryGyroscopeDigital LPFSoftware IntegratorSoftware Digital USBNST Module

BatteryAccelerometerDigital LPFSoftware IntegratorSoftware Digital USBNST Module

Concept Alternatives

Concept Selection: Pugh Matrix1st Iteration

Concept Selection: Pugh Matrix2nd Iteration

System Architecture

Battery

Gyroscope

Low Pass Filter Integrator

Scaled Inversion

Servo/USB (I2C)

Detailed Risk Assessment

Top Concerns:1. Battery failure

2. Poor sensor accuracy3. Poor data processing

4. Send wrong control signal to NST module

Project Schedule: Next 3 Weeks

Test Plan

Gyroscope Accuracy, output scaling

Filter Design Transfer function

Integrator Design Accuracy, response time, noise

Test bench Functionality, calibrate frequency

Algorithm Vibration reduction capacity

Challenges

Control system design Response time, accuracy

Reached out to NST for input on analog versus digital Still waiting for a response

Action Items

Update NST on progressRefine test bench design

1 versus 2 axisFuture Benchmarking

Feedback system/loop: analog circuit in some binocular systems

Components: gyroscope, battery, processor

Any Questions?

Thank You.

References

Benchmarking Articles: Measurement Method for Image Stabilizing Systems

by Golik and Wueller Image Stabilization Technology Overview by Sachs,

Nasiri and Goehl