1. SPIRIT-C Solar Powered Image Response Infrared Tracking Camcorder
Justin Eiler
Jeff Morroni
Adeel Baig
Andy Crahan
Jim Patterson

2. SPIRIT-C Applications
Live Action Filming
Security Surveillance
Infant Monitoring
Proximity Detection

3. Pan/tilt tracking system for digital camcorder
Overview
Pan/tilt tracking system for digital camcorder
Two stepper motors used for pan/tilt motion
Controlled by array of PIR(pyro-electric infrared) sensors
Solar array for supplying power to all components
External battery and camcorder battery charged through array
FPGA with embedded soft core for integration and control
Manual, and possibly wireless, controller

4. Block Diagram Converters Solar Array ADC / Mux Control Power Data LED
Cluster
Battery
Spartan 3
with
Microblaze
Manual
Control
H-Bridge
Controller
Stepper
Motors
Camera
ADC /
Mux
Control
Power
Data
IR Sensors

5. Camera Mount Assembly
The camera will be mounted into a cradle using existing tripod mount
The cradle is suspended between side holes on yoke
The yoke will be used to facilitate tilting motion
A Lazy Susan will be used for pan rotation and is connected to bottom hole of yoke

6. Stepper Motors
Two low power stepper motors will be used to power the rotation of the camera
The motors will also be Bipolar (no center taps)

7. Motor Control
A simple H-bridge circuit will be constructed to control the motors
The H-bridge will allow us the following modes XY
Mode 00
D. Braking 01
Forward 10
Reverse 11

8. Motor Driver
The Step input will be hooked up to the Spartan 3 Pulse Width Modulator
The Direction input will be held high for clockwise or held low for counter clockwise
The outputs then will be attached to the appropriate H bridge inputs
Step Y
Winding 1 X Y
Direction
Winding 2 X
Driver using TTL logic

9. IR Sensors
To detect rapid human movement will require high quality IR sensors
Several types are available including:
- Thermopiles
- Bolometers
- Pneumatic Detectors
- Pyroelectric Detectors

10. Pyroelectric IR Sensors
Only pyroelectric sensors have the rapid motion detection we require for high speed filming
These operate like current sources with output proportional to the rate of change in temperature
Extremely fast responses set them apart
They are also insensitive to undesirable external DC effects

11. Configuration Internal FET detects surface charge changes
BW limited 2 stage amplifier reduces HF noise

12. Fresnel Lens Fresnel lenses are lightweight economical
heat dissipative
precise
FL65 Detects 8-14um radiation

13. Fresnel Specs Concentrates PIR field to 10 degrees versus 95
Important aspect for sensitive motion detection
Provides appropriate field with our 8 sensor cradle design

14. Motion Detection
Motion detected by sensors being triggered consecutively
This cancels signals due to vibration, temp. changes, and sunlight

15. PIR325 Specs 2 sensing elements 5-14um response
General motion detector schematic

16. Solar Power Block Diagram

17. Solar Module Maximum Power = 40 W 25.8 inches by 21.1 inches
Provides 17.3Vmax and 2.31Amax
Manual/Automatic tilt for maximum sun intensity

18. DC/DC Converter Buck Converter
Input Voltage, Vg, will be around 17.3 V (for one panel)
Battery charging voltage should be around V
Buck Converter will decrease the voltage with low loss

19. Control Technique
Output Voltage will be set to constant charging voltage
Sense the output current
FPGA will increase duty cycle thus changing the operating point
If new operating point has greater output power, continue increasing duty cycle, otherwise decrease

20. Deep Cycle Battery 12V Deep cycle required for extended usage
A shunt regulator will prevent over-charging
When battery draws less current (fully charged), the regulator will dissipate the excess current

21. Xilinx Spartan-3 Starter Kit

22. Starter Kit Features Spartan-3 XC3S200 FPGA
2Mbit Xilinx XCF02S Platform Flash Prom
1M-byte of Fast Asynchronous SRAM
3-bit, 8-color VGA display port
9-pin RS-232 Serial Port
PS/2-style mouse/keyboard port
Four-character, seven segment LED display
Eight slide switches
Eight individual LED outputs
Four momentary-contact push buttons
50 MHz crystal oscillator clock source
JTAG port
AC power adapter with unregulated +5V power supply
On board 3.3V, 2.5 V, and 1.2V regulators

23. CONFIGURABLE LOGIC BLOCK
FPGA – Spartan-3 XC3S200
220K system gates, 4320 equiv. logic cells
480 total CLB (configurable logic block)
30K distributed RAM bits
216K block RAM bits
12 dedicated multipliers
4 DCM (digital clock multiplier)
173 user I/O, 76 differential I/O pairs
CONFIGURABLE LOGIC BLOCK
Main logic resource for implementing synchronous and combinatorial circuits
Comprised of four slices
Two logic function generators, two storage elements, wide-function multiplexers, carry logic, and arithmetic gates
left-hand pair also supports: storing data using Distributed RAM and shifting data with 16-bit registers.

24. FPGA implementation
ISE development system: synthesis, mapping, placement, routing
I/O blocks and selectable paths create versatility
CLB’s are workhorse of FPGA
Function Generator: LUT function used to implement state machine
Storage Element: Flip Flop used to synchronize data to clock signal
Carry chain: helps with fast arithmetic
PWM (pulse width modulator):
clock divider
binary up-down counter
comparator

25. MICROBLAZE Embedded Soft Core
- Based on RISC 32-bit architecture
- 32-bit instruction word with three operands and two addressing modes
- 32-bit address bus, bit general purpose registers, single issue pipeline

26. User Interface Switch between automatic and manual control
Allows user to control the camera position
Sega Genesis controller provides serial input (RS232 on DB-9) to the board

27. Controller Functions

28. Camcorder Control
Camcorder remote will be incorporated into the Genesis controller

29. Constraints Financial Time LED cluster Number of solar panels
Number of PIR sensors
Time
Real time data acquisition link
Wireless control
Digital peak power tracker
Automatic positioning for solar array

30. Contingency Plan IR sensors Camera Motor Control
Switch to thermopile sensors
Use transmitter on subject
Camera
Use existing battery charger
Motor Control
Buy H-bridge controller if design performance bad

31. Division of Labor Jeff – Solar array and peak power tracker
Adeel – Manual and Wireless control for the camcorder system
Jim – FPGA implementation and integration
Justin – Stepper motors, drivers, and H-bridge controller
Andy – Infrared sensor network and interface

32. Budget

33. Project Schedule

34. Questions?