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Laser Tracking System (LTS). Son Nguyen Jassim Alshamali Aja Armstrong Matt Aamold. Presentation Outline. CDR Checklist Digitization Sub-Systems Controls Sub-Systems Target Detection Project Schedule. Slight Changes to Project. B/W sampling instead of Color

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laser tracking system lts
Laser Tracking System (LTS)

Son Nguyen Jassim Alshamali

Aja Armstrong Matt Aamold

presentation outline
Presentation Outline
  • CDR Checklist
  • Digitization Sub-Systems
  • Controls Sub-Systems
  • Target Detection
  • Project Schedule
slight changes to project
Slight Changes to Project
  • B/W sampling instead of Color
    • B/W uses intensity sampling
    • Color uses phase sampling from the back porch
  • Black background instead of white
    • Better laser detection
  • Two power supplies instead of one
cdr checklist
CDR Checklist
  • Timing for digitization
  • Obtained main schematics
  • Functioning servos
  • Creating PWM design
  • Designing structure
digitization sub system
Digitization Sub-System
  • Video Frame Timing
  • Video Line Timing
  • Sync Separator Outputs
  • State Machine Diagram
  • Timing Counters
  • Timing Schematic
digitization video frame timing
Digitization – Video Frame Timing
  • Odd/Even Fields
  • Not every line in output of NTSC is valid data
  • Last line on each field is half line
digitization video line timing
Digitization – Video Line Timing
  • 63.5 us line time – not all is valid data
  • B/W is intensity based
digitization timing counters
Digitization – Timing Counters
  • Counter A – Divides 50Mhz to 12.5Mhz; sampling clock
  • Counter B - Throw out invalid lines; starts from line sync; 1,111,250ns @50Mhz = 55,562 cycles
  • Counter C – Throw out invalid line data; starts from Counter B; 9.4us @50Mhz = 470 cycles
  • Counter D – Sampling counter; starts from Counter C; 640 samples throughout 52.6us; Uses 12.5Mhz clock (Coordinate Counter A)
  • Counter E – Keeps track of which line in frame; 242 valid full lines (Coordinate Counter B)
controls sub system
Controls Sub-System
  • Structure Design
  • Servo Testing
  • Pulse Wave Modulator Design
  • Power Supply Design
controls structure
Controls - Structure
  • Rotary Base will serve as the x-axis
  • Designs for the y-axis movement are in progress
controls servo testing
Controls - Servo Testing
  • Dual Timer Chip Used to Implement Hardware PWM
  • 50hz Base Signal Required
  • Changing the duty cycle changes the relative position of the servo
controls servo testing1
Controls - Servo Testing
  • HiTec HS-50 Servo
    • Full Counter-Clockwise 4.2% Duty Cycle
    • Full Clockwise 9.8% Duty Cycle
    • Center 7.0% Duty Cycle
  • Airnotics….Servo
    • Full Counter-Clockwise 3.2% Duty Cycle
    • Full Clockwise 9.8% Duty Cycle
    • Center 5.6% Duty Cycle
controls pulse wave modulator design
Controls - Pulse Wave Modulator Design
  • Pulse Wave Modulator (PWM) controls the duty cycle required to move the servos.
  • Implementation of the PWM will be on board the FPGA
  • Design of PWM will be designed in Verilog
controls pulse wave modulator
Controls - Pulse Wave Modulator
  • PWM consists of several parts
    • Clock Divider to bring the 50Mhz clock of the FPGA down to 45hz-55hz for the base frequency of the PWM.
    • Verilog code to generate the behavior of a PWM
      • Accumulator and registers will be used to adjust the duty cycle of the 45hz-55hz waveform
controls pulse wave modulator1
Controls - Pulse Wave Modulator
  • The clock divider was made with flip flops to bring the frequency down to 47hz
controls power supply design
Controls - Power Supply Design
  • Servos
    • 9 Volt unregulated transformer
      • With a 5 volt regulator
  • Digitizing Board
    • 12-15 Volt unregulated transformer
      • With 12 and 5 regulated voltages
overall power
Overall Power
  • Components
    • Camera
      • 12V * 200 mA = 2.4 Watts
    • Servos
      • Maximum of (9V-5V) * 1A = 4 Watts
    • All IC’s will go off of FPGA
      • FPGA will use a regulated 5V
target detection
Target Detection
  • Four main state machines
    • Target detector
    • Choosing mode
    • Static mode
    • Dynamic mode
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