target tracking spotlight (tts) maureen desi joel douglass rajiv iyer dennis trimarchi group 6
TRANSCRIPT
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Target Tracking Spotlight Target Tracking Spotlight (TTS)(TTS)
Maureen DesiMaureen Desi
Joel DouglassJoel Douglass
Rajiv IyerRajiv Iyer
Dennis TrimarchiDennis Trimarchi
Group 6Group 6
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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
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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
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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)
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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
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Sensor SystemSensor System
Research & Order PartsResearch & Order Parts System ConstructionSystem Construction Data Acquisition ProgramData Acquisition Program Simulation &TestingSimulation &Testing
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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
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Research & Order Research & Order PartsParts Devantech SRF-04 Ultrasonic RangerDevantech SRF-04 Ultrasonic Ranger
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System ConstructionSystem Construction
Sensor Pair
Sensor Pair
PICARCS
Trigger
Echo
Echo
8 bit Timer
Address Bits
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Data Acquisition Data Acquisition ProgramProgram
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Data Acquisition Data Acquisition ProgramProgram
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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
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Data Acquisition Data Acquisition ProgramProgram
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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
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Simulation & TestingSimulation & Testing
R1
R2
2.52R12)10
252R12R2(X
2.510
252R22R1 Y
* Radius of Target is added to R1 and R2
xy
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Control SystemControl System
Order PartsOrder Parts SimulationSimulation System Construction & System Construction &
ProgrammingProgramming TestingTesting Phase I & IIPhase I & II
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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
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Option 1 Option Option 1 Option 22
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SimulationSimulation
Linearization of Dynamic Model Experiment with Design Methods Choose Simple PID Controller
Non-Linear Simulation of Dynamic Model
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Motor 1 Motor 1 Motor 2Motor 2
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Linear vs. Non-linearLinear vs. Non-linear
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Outer Block DiagramOuter Block Diagram
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Demonstration Cases Demonstration Cases Block DiagramBlock Diagram
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Point to Point Case Point to Point Case Block DiagramBlock Diagram
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Controller Block Controller Block DiagramDiagram
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Physical System Physical System Performance:Performance:Step ResponseStep Response
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Physical System Physical System Performance:Performance:Sine TrackingSine Tracking
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Demonstration Demonstration
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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)
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RecommendationsRecommendations
Implement a Low Pass FilterUse Trajectory Estimation AlgorithmIncorporate SRF04 PairsUse Higher Intensity Spotlight