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Group 6 Target Tracking Spotlight (TTS). Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi. Motivation. WHO Law Enforcement Entertainment Industry. WHY Speed & Accuracy Economic Savings. Similar Products. Martin Lighting Director (MLD) 3D Tracking System for automated followspot

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Group 6 Target Tracking Spotlight (TTS)

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Group 6Target Tracking Spotlight (TTS)

Maureen Desi

Joel Douglass

Rajiv Iyer

Dennis Trimarchi


Motivation

  • WHO

    • Law Enforcement

    • Entertainment Industry

  • WHY

    • Speed & Accuracy

    • Economic Savings


Similar Products

  • Martin Lighting Director (MLD)

    • 3D Tracking System for automated followspot

    • 4 Ultrasonic Speakers

      • frame of reference for tracking system

    • Modified Wireless Microphone

      • Detects ultrasonic pulses from speakers

      • Sends radio signals back to the MDL system

    • http://www.martin.dk/product/product.asp?product=lightingdirector


Project Goal & Approach

Goal

Successfully track and illuminate a moving target with a spotlight.

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.


Objectives

  • 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 Strategy

Sensors

Control

Identify Part Specifications

Data Acquisition Program

Simulation

Order Parts

Simulation

Order Parts

System Construction and Programming

System Construction and Programming

Testing

(Parameter Identification)

Testing

(Parameter Identification)

Phase I

Phase II

Phase III

Project Completion!


Plan of Action

Identify Part Specs

  • 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

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • 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

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • Timing Belts

  • Polyurethane Belt

  • 0.0816 in. (40 D.P.) Pitch

  • 135 Teeth

  • 3/16 in. wide

  • Pitch Length = 11.02 in.

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • Spotlight

  • RAYOVAC Sportsman

  • Mass = 0.1008 Kg

  • Height = 2.5 in

  • Length = 3.0 in

  • Width = 2.5 in

  • Center of mass

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • 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

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • 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

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


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 Action

Identify Part Specs

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • 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)

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Plan of Action

Identify Part Specs

  • 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

Controller Simulation

System Construction/Programming,

Testing

Phase I

Phase II

Data Acquisition Programming

Sensor Simulation

Sensor System Construction,

Programming and Testing

Phase III


Cost

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*140hrs28,000.00

TOTAL $28,338.74


Schedule

Week 6Final Design & Simulation

Week 7Design Review, Order Parts

Week 8Pan-Tilt System Construction: Dennis, Rajiv

Programming (Real-time Code): Joel, Maureen

Week 9System Testing (Parameter & Friction Identification) : Team

Week 10Complete Construction and begin Phase II: Joel, Rajiv

Sensor System Construction and Testing: Dennis, Maureen

Week 11Phase III – Integration of Sensors: Team

Week 12Controller tuning and optimization: Team

Week 13Demonstration of Final System: Team

Week 14Final Report: Team


THE END

Target Tracking Spotlight (TTS)


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