Kaitlin peranski spencer wasilewski kyle lasher kyle jensen chris caporale jeremy berke
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Actively Stabilized Hand Held Laser Pointer May 8, 2014 PowerPoint PPT Presentation


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Kaitlin Peranski Spencer Wasilewski Kyle Lasher Kyle Jensen Chris Caporale Jeremy Berke. Actively Stabilized Hand Held Laser Pointer May 8, 2014. Agenda. Layout/CAD Models System Diagrams Test Bench Test Results BOM/Purchase List Future Development Technical Manual.

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Actively Stabilized Hand Held Laser Pointer May 8, 2014

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Kaitlin Peranski

Spencer Wasilewski

Kyle Lasher

Kyle Jensen

Chris Caporale

Jeremy Berke

Actively Stabilized Hand Held Laser PointerMay 8, 2014


Agenda

  • Layout/CAD Models

  • System Diagrams

  • Test Bench

  • Test Results

  • BOM/Purchase List

  • Future Development

  • Technical Manual


Prototype Layout


Housing

Push Button to turn on laser (Hold down to turn laser on)

Turns Correction On (Forward-on)

Processor USB/ Charging Port

Main Power (Forward-on)

NST Controller Access

Charging LED (Yellow- Charging

Green- Charged)

Processor LED (On When Correcting)


CAD Models


Use Instructions

  • Gyroscope Calibration:

    • Turn module on, and leave on a stable surface until the processor led blinks. Moving the module during this process will cause the module to not calibrate properly, resulting in possible drift.

  • Battery Charging:

    • Turn module on

    • Plug in micro USB Cable

    • Yellow light on charging module will turn green when the battery is fully charged


Logic Flow Chart


Wiring Diagram


Test Bench

  • Approximates a sine wave from 4 to 20 Hz

  • Solid state relay triggering system for solenoid actuators

  • Adjustable amplitude using duty cycle

  • Integrated gyroscope DAQ

  • Thermistor DAQ


Test Results

  • Accelerometers versus Gyroscopes

  • Extended Runtime

  • Response Time

  • Effectiveness using Test Bench

  • Effectiveness using Target

  • Survey


Engineering Requirements with Results


Accelerometers VS Gyroscopes

Beyond 80 cm, or 31.5 in, gyroscopes begin to out sense over accelerometers.


Extended Runtime Testing

Total Runtime:10.1Hours


Extended Runtime Testing


Response Time

Prototype:

  • The code was run for 10 seconds

    • The average time it took to run through the code was 1.4 ms

      NST Module:

  • The Pathways performance logger was used to determine response time to a step response

    • Before update – 300 ms forward, 70 ms reverse

    • After update – 40 ms forward, 20 ms reverse


Response Time

NST Module:

  • While the teensy was sending commands to simulate a sine wave the performance logger was run

    • Response time – 3.4 ms


Effectiveness using Test BenchWithout Firmware Update


Effectiveness using TargetWithout Firmware Update

Possible Drift**

No Drift

  • Data Sets:

  • No Drift = {69.75, 20.06, 24.39, 47.06, 56.74, 44.64}

  • Possible Drift = {-13.95, 9.65, 36.18, 25.76, 43.98}

  • Extreme Drift = {-145.65}

  • Averages:

  • ND&PD&ED = 16.85%

  • ND&PD = 33.11%

  • ND = 45.60%

**Drift in image is due to incorrect calibration of gyroscope


Ease of Use/Ergonomics Survey


Ease of Use/Ergonomics Survey

  • Comments:

  • Module is hard to aim when the correction algorithm activated at the same time as the button press.

    • This led us to add a slight delay from when the button is pressed to when the correction activates

  • User did not know when the correction was turned on without looking at the switch

    • Led to us adding an LED light on the Teensy processor


Final Prototype BOM


Final Purchase List

  • Started with a $1,000 budget

  • Propose to spend remaining money on practical items


**These items have already been accounted for in our purchase list.

Additional Items to Purchase**:

  • Total: $101

  • Micro USB Cable

    • Sparkfun: $5

  • Mini USB Cable

    • Sparkfun: $4

  • Universal Laptop AC Power Adapter

    • Amazon: $15

  • Triple Axis Digital Output Gyroscope

    • Sparkfun: $25

  • Micro Lipo USB LiPoly Charger X 2

    • Adafruit: $12

  • Teensy 3.1 + Header X 2

    • Adafruit: $40


Future Development

  • Improve Packaging

    • Component layout

    • More ergonomic

  • Better Quality Gyroscope

    • Easier calibration

    • Less drift

    • More accurate

  • Integration of Processors

    • Add gyroscope onto NST module

    • Use single processor

    • Continuous data and corrections

    • Reduce overall response time

  • Improve response of NST’s mechanical system to meet a target of 2.6 ms

  • Add damping to test bench

  • Better method to image process when using test bench

  • Investigate setting of limits (calibration algorithm)

  • Ignore any jitters below 2 Hz and focus on canceling between 2 and 20 Hz


  • Technical Manual

    • Drawing Package

    • Wiring Diagram

    • Processor Code with Notes

    • Current Related Patents

    • Use Instructions

    • Final BOM and Purchase List

    • Testing Results and Data


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