Motion Tracking & Position Acquisition

1. Motion Tracking &Position Acquisition Final Design Review Solomon Gates | William K. Grefe | Jay Michael Heidbreder | Jeremy Kolpak

2. Overview of Project Objective Achieve accurate and precise motion of laser pointer directed at a locator beacon Obtain precise object position from sensor input

3. Design Objectives • Simulate control system • Refine motor control system • Test tracking accuracy • Maintain motor feasibility • Final component decision • Final motor justification • Pulley gear ratio • Sensor specifications • Cost analysis • Completed simulation and design specs on schedule

4. Linear Simulation Non-Linear Simulation This week Parts Purchasing Week 8 Assemble & Test Pan/Tilt Week 10 Simulate Position Acquisition Test Beacon and Receivers Week 11 System Integration Week 12 Final Testing Week 13 Plan of Action

5. Original Design Specifications • Object tracking velocity: • Object velocity of 10 mph • Pan/Tilt velocity of 10 radians per second • Object acquisition within 1 second • Distance to object: ½ft – 20ft • Range of motion: • Pan range of 180° • Tilt range of 90° • Sensor accuracy: • Detection distance of ½ft – 20ft • Detection cone 60° – 180° • Beacon accuracy: • Transmission distance of up to 20ft • Transmit 30 times per second

6. Testing Procedure • Fixed point accuracy & acquisition speed • Sinusoidal input tracking • Realistic tracking (torque saturation) • Trapezoidal input tracking • Random path tracking

7. Tolerance Analysis • Fixed point accuracy: • Sinusoidal tracking accuracy: • Random path tracking accuracy: 1/2” @ 20 ft; 1/8” @ 6” • Beacon acquisition accuracy: unknown • Tracking moving beacon: 1” @ 20 ft;  1/4” @ 6”

8. Part Justification • Motor candidates: • GM8274S010, GM8274S013, GM8712-11 • Speed and torque requirements met using a variety of gains and gear ratios connected to motor candidates • In simulations, large gear ratios gave more power at slower speeds and visa versa • After different configurations, we arrived at particular gains and a gear ratio of 4:1 • Pulley dimensions were chosen at this ratio • Grooves on pulleys also match ratio

9. Motor Analysis

10. Motor Analysis

11. 3 13 Motor Analysis

12. Motor Analysis

13. Realistic Tracking Simulation

14. Realistic Tracking Simulation

15. Realistic Tracking Simulation

16. Realistic Tracking Simulation

17. Realistic Tracking Simulation Random Path Tracking

18. Testing Results

19. Linearization Model

20. Sensor Design: Beacon • Ultrasonic transceiver sends sound wave in a 60° cone • Distances of up to 30ft • RF signal transmitted in 360° • RF signal range of up to 300ft

21. Sensor Design Beacon will be built from six ultrasonic transceivers to allow 360° range Three receivers will detect signal propagation time

22. Supplier: Pittman Express Lo-Cog DC Gearmotor GM8724S010 (qty: 2) Supplier: Stock Drive Products/Sterling Instrument 100 Teeth, Aluminum Alloy Timing Pulley -- A 6A61-00NF03112 (qty: 2) 25 Teeth, Aluminum Alloy Timing Pulley -- A 6A 6-25DF03106 (qty: 2) Supplier: Oatley Electronics 40KHz transmit transducer -- MA40A3S (qty: 6)40KHz receive transducer -- MA40A3R (qty: 3) Supplier: Abacom Technologies RF transmitter -- AM-TX1-4xx (qty: 1)RF receiver -- AM-HRR3-xxx (qty: 3) Final Part Decision

23. Cost Analysis

24. Schedule