Kaitlin peranski spencer wasilewski kyle lasher kyle jensen chris caporale jeremy berke
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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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Kaitlin peranski spencer wasilewski kyle lasher kyle jensen chris caporale jeremy berke

Kaitlin Peranski

Spencer Wasilewski

Kyle Lasher

Kyle Jensen

Chris Caporale

Jeremy Berke

Actively Stabilized Hand Held Laser PointerMay 8, 2014


Agenda
Agenda

  • Layout/CAD Models

  • System Diagrams

  • Test Bench

  • Test Results

  • BOM/Purchase List

  • Future Development

  • Technical Manual



Housing
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)



Use instructions
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




Test bench
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
Test Results

  • Accelerometers versus Gyroscopes

  • Extended Runtime

  • Response Time

  • Effectiveness using Test Bench

  • Effectiveness using Target

  • Survey



Accelerometers vs gyroscopes
Accelerometers VS Gyroscopes

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


Extended runtime testing
Extended Runtime Testing

Total Runtime:10.1Hours



Response time
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 time1
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 bench without firmware update
Effectiveness using Test BenchWithout Firmware Update


Effectiveness using target without 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 survey1
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 purchase list
Final Purchase List

  • Started with a $1,000 budget

  • Propose to spend remaining money on practical items


Additional items to purchase

**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
Future Development purchase list.

  • 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
    Technical Manual purchase list.

    • 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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