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University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007. Team Members. Dan Mackin Kyle Huston Farhad Majdeteimouri Muhammad Ahmad. University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007. Presentation Outline. High Level Project Discussion Features

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Presentation Transcript
team members
Team Members
  • Dan Mackin
  • Kyle Huston
  • Farhad Majdeteimouri
  • Muhammad Ahmad

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

presentation outline
Presentation Outline
  • High Level Project Discussion
    • Features
    • Project Overview
    • Components
    • System Block Diagram
  • Self Organizing Map (SOM) Discussion
    • SOM Block Diagram
    • SOM Demo
  • Auto-Calibration Device (“Tapper”) Discussion
    • Tapper Block Diagram
    • MSP430 Development Board Overview
    • Microstepping Motor Controller
    • 3-D Model
  • Project Administration Discussion
    • Division of Labor
    • Updated Timeline
    • Milestones
    • Status Update
    • Updated Costs
    • Risk Analysis and Safeguards
  • Questions?

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

features
Features
  • Self learning algorithm maps a strand of fiber and displays any touches on the fiber in real time on a computer monitor.
  • Robotic device provides auto-calibration by randomly deflecting the light through the fiber for a finite time.
  • A user is then able to put pressure on the fiber and have its exact location mapped out on the screen.

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

project overview
Project Overview
  • Uses Self Organizing Maps (SOM) to model Optical Fiber in Matlab
  • Laser is shone into the optical fiber which produces a speckle pattern that is recorded by a typical webcam which Matlab acquires
  • A robotic tapping device built using a stepper motor, a servo, and a microcontroller will tap on the fiber strand
  • The speckle pattern will change as the robotic tapping device puts pressure on the fiber strand in various locations
  • Hundreds of speckle patterns will be recorded as the tapping device produces random tapping along the fiber
  • The Self-Organizing Map algorithm then learns the topology of the fiber

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

components
Components
  • SOM Components
  • Personal Computer
  • Matlab Software
  • Optical Hardware
  • Optical Breadboard
  • USB Webcam
  • Multi-Mode Fiber Strand
  • Red Laser Diode
  • Collimating and Condensing Lens
  • Opaque Plexi-Glass Enclosure
  • Tapper Hardware
  • MSP430 Microcontroller and Development Board
  • MD2S-P High Resolution Micostepping Motor Controller
  • STH39C Stepper Motor
  • HS-422 Hi-Tec Deluxe Hobby Servos
  • Derlin Mini-Sprockets and Chains
  • Fiber Glass Enclosure

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

pictorial block diagram
Pictorial Block Diagram

MSP430 Microcontroller

and

Development Board

Servo

Powers mechanical

tapping arm

Microstepping Motor Controller

Provides high resolution

Stepper motor movement

Feedback

RS-232

Stepper Motor

Drives sprocket and chain

Which moves tapping arm

Along its track

Mechanical tapping arm

USB

Optical fiber

PC running Matlab

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

som block diagram
SOM Block Diagram

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

som demo
SOM Demo

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

msp430 development board
MSP430 Development Board

Details about this here

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

msp430 board schematic
MSP430 Board Schematic

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

md2s p microstepping motor controller
MD2S-P Microstepping Motor Controller

Put some details in here

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

3d model view
3D Model View

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

interfacing tasks
Interfacing Tasks
  • Microcontroller to Tapper Device
  • MSP430 sends digital signals to MD2S-P Microstepping Motor Controller
  • MSP430 sends pulse width modulated signal to hobby servo for tapping arm movement
  • MD2S-P sends required waveform to STH39C stepper motor for tapper device movement
  • Digital switch relays home position of tapping device to MSP430
  • Fiber to PC (SOM Algorithm)
  • Camera captures image and transmits to the PC via USB.
  • Image is acquired as an 640x480 8 bit RGB image.
  • Image is pulled into Matlab using image acquisition toolbox extracts a 200x200 speckle pattern.
  • PC to MSP430 Microcontroller
  • Matlab sends commands to MSP430 using RS232 interface standard.

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

division of labor
Division of Labor

Hardware/Calibration – Kyle, Dan

Image Processing – Muhammad, Farhad

SOM Algorithm – Farhad, Kyle

Display Routines – Dan, Muhammad

Breadboard Enclosure Construction – Dan, Kyle

Tapper Device Construction – Muhammad, Kyle

Tapper Device Programming – Muhammad, Dan

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

timeline
Timeline

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

milestones
Milestones
  • Milestone One
    • SOM Algorithm Developed Using 50 Neurons
    • Robotic Tapping Device Construction Complete
    • Initial Programming of Tapping Device Complete
  • Milestone Two
    • SOM Algorithm Optimized and Tested Using 200 Neurons
    • Opaque Breadboard Enclosure Complete
    • Robotic Tapping Device Programming Complete
    • System Tested and Integrated

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

current status
Current Status
  • SOM
    • Hardware setup complete
    • Image acquisition and front end image processing complete
    • Initial SOM prototype redesigned to include 50 neurons
  • Tapper
    • Initial control of stepper motor using microcontroller and microstepping motor controller complete
    • Enclosure and tapper schematics and part design 75% complete

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

updated costs
Updated Costs

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

risk analysis and safeguard
Risk Analysis and Safeguard

Main Risk:

It is impossible to save the configuration of the SOM once the algorithm has been calibrated with that specific speckle configuration.

Safeguard:

We are planning to lock the enclosure such that the laser and all corresponding filters and lenses can not be accessed by anyone thus preventing the need for re-calibration.

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007

questions
Questions?

University of Colorado at Boulder – ECE Capstone – CDR – October 16, 2007